WorldWideScience

Sample records for mobile robot technology

  1. The technology of mobile robot with articulated crawler mechanism

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Seung Ho; Kim, Byung Soo; Kim, Chang Hoi; Hwang, Suk Yong; Suh, Yong Chil; Lee, Yung Kwang; Sin, Jae Ho [Korea Atomic Energy Research Institute, Taejon (Korea, Republic of)

    1995-01-01

    The main application of a mobile robot are to do the inspection and maintenance tasks in the primary and auxiliary building, and to meet with the radiological emergency response in nuclear power plant. Our project to develop crawler-type mobile robot has been divided into 3 phases. In 1 st phase, the-state-of-the-arts of mobile robot technology were studied and analyzed. And then the technical report `development of mobile robot technology for the light work` was published on July, 1993. In current phase, the articulated crawler type mobile robot named as ANDROS Mark VI was purchased to evaluate deeply its mechanism and control system. Then we designed the autonomous track surface, to get the inclination angle of robot, and to control the front and rear auxiliary track autonomously during climbing up and down stairs. And also, the autonomous stair-climbing algorithm has been developed to going over stairs with high stability. For the final phase, the advanced model of articulated crawler type mobile robot is going to be developed. (Author) 13 refs., 30 figs., 12 tabs.

  2. Mobile robots

    Energy Technology Data Exchange (ETDEWEB)

    Wolfe, W.J.; Marquina, N.

    1986-01-01

    This book presents papers given at a conference on mobile robots. Topics the conference included are the following: mobility systems for robotic vehicles; detection and control of mobile robot motion by real-time computer vision, obstacle avoidance algorithms for an autonomous land vehicle; hierarchical processor and matched filters for range image processing; asynchronous distributed control system for a mobile robot, and, planning in a hierarchical nested autonomous control system.

  3. Robotic Mobile System's Performance-Based MIMO-OFDM Technology

    Directory of Open Access Journals (Sweden)

    Omar Alani

    2009-10-01

    Full Text Available In this paper, a predistortion neural network (PDNN architecture has been imposed to the Sniffer Mobile Robot (SNFRbot that is based on spatial multiplexed wireless Orthogonal Frequency Division Multiplexing (OFDM transmission technology. This proposal is used to improve the system performance by combating one of the main drawbacks that is encountered by OFDM technology; Peak-to-Average Power Ratio (PAPR. Simulation results show that using PDNN resulted in better PAPR performance than the previously published work that is based on linear coding, such as Low Density Parity Check (LDPC codes and turbo encoding whether using flat fading channel or a Doppler spread channel.

  4. Implementation of a Mobile Device Controlled Multi-behavior Interactive Mobile Robot Over MR Technology

    OpenAIRE

    Lee, Wen-Yo; Guo, Jhu-Syuan; Hung, Ta-Chih; Hsu, Hui-Wen

    2009-01-01

    This paper presents a mobile-device controlled multi-behavior interactive mobile robot. The proposed mobile robot is implemented under the technique of mixed reality. The proposed mobile robot has three basic locomotion behaviors that enable the mobile robot moving in a complex environment. The three basic interactive behaviors are: target navigation behavior, face tracking behavior, and obstacles avoidance behavior. The three behaviors are designed by the fuzzy controller, respectively. For ...

  5. The Mobile Robot "Little Helper"

    DEFF Research Database (Denmark)

    Hvilshøj, Mads; Bøgh, Simon; Madsen, Ole

    2009-01-01

    Increased customer needs and intensified global competition require intelligent and flexible automation. The interaction technology mobile robotics addresses this, so it holds great potential within the industry. This paper presents the concepts, ideas and working principles of the mobile robot "...

  6. Mobile robot worksystem (Rosie). Innovative technology summary report

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1999-05-01

    The US Department of Energy (DOE) and the Federal Energy Technology Center (FETC) have developed a Large Scale Demonstration Project (LSDP) at the Chicago Pile-5 Research Reactor (CP-5) at Argonne National Laboratory-East (ANL). The objective of the LSDP is to demonstrate potentially beneficial Deactivation and Decommissioning (D and D) technologies in comparison with current baseline technologies. Rosie is a mobile robot worksystem developed for nuclear facilities D and D. Rosie performs mechanical dismantlement of radiologically contaminated structures by remotely deploying other tools or systems. At the CP-5 reactor site, Rosie is a mobile platform used to support reactor assembly demolition through its long reach, heavy lift capability and its deployment and positioning of a Kraft Predator dexterous manipulator arm. Rosie is a tethered, 50 m (165 ft) long, robotic system controlled via teleoperation from a control console that is located outside of the radiological containment area. The operator uses Rosie to move, lift or offload radioactive materials using its integral lifting hook or to position the Kraft Predator arm in locations where the arm can be used to dismantle parts of the CP-5 reactor. The specific operating areas were concentrated in two high radiation areas, one at the top of the reactor structure atop and within the reactor tank assembly and the second at a large opening on the west side of the reactor`s biological shield called the west thermal column. In the first of these areas, low level radioactive waste size previously segmented or dismantled by the Dual Arm Work Platform (DAWP) and placed into a steel drum or transfer can were moved to a staging area for manual packaging. In the latter area, the manipulator arm removed and transferred shielding blocks from the west thermal column area of the reactor into waste containers. Rosie can also deploy up to twelve remotely controlled television cameras, some with microphones, which can be used

  7. Expanding venue and persistence of planetary mobile robotic exploration: new technology concepts for Mars and beyond

    Science.gov (United States)

    Schenker, Paul S.; Elfes, Albert; Hall, Jeffrey L.; Huntsberger, Terrance L.; Jones, Jack A.; Wilcox, Brian H.; Zimmerman, Wayne F.

    2003-10-01

    The domain and technology of mobile robotic space exploration are fast moving from brief visits to benign Mars surface regions to more challenging terrain and sustained exploration. Further, the overall venue and concept of space robotic exploration are expanding—"from flatland to 3D"—from the surface, to sub-surface and aerial theatres on disparate large and small planetary bodies, including Mars, Venus, Titan, Europa, and small asteroids. These new space robotic system developments are being facilitated by concurrent, synergistic advances in software and hardware technologies for robotic mobility, particularly as regard on-board system autonomy and novel thermo-mechanical design. We outline these directions of emerging mobile science mission interest and technology enablement, including illustrative work at JPL on terrain-adaptive and multi-robot cooperative rover systems, aerobotic mobility, and subsurface ice explorers.

  8. Networking a mobile robot

    Science.gov (United States)

    McKee, Gerard T.

    1994-10-01

    Conventional mobile robotic systems are `stand alone'. Program development involves loading programs into the mobile, via an umbilical. Autonomous operation, in this context, means `isolation': the user cannot interact with the program as the robot is moving around. Recent research in `swarm robotics' has exploited wireless networks as a means of providing inter- robot communication, but the population is still isolated from the human user. In this paper we report on research we are conducting into the provision of mobile robots as resources on a local area computer network, and thus breaking the isolation barrier. We are making use of new multimedia workstation and wireless networking technology to link the robots to the network in order to provide a new type of resource for the user. We model the robot as a set of resources and propose a client-server architecture as the basis for providing user access to the robots. We describe the types of resources each robot can provide and we outline the potential for cooperative robotics, human-robot cooperation, and teleoperation and autonomous robot behavior within this context.

  9. The Mobile Robot "Little Helper"

    DEFF Research Database (Denmark)

    Hvilshøj, Mads; Bøgh, Simon; Madsen, Ole

    2009-01-01

    Increased customer needs and intensified global competition require intelligent and flexible automation. The interaction technology mobile robotics addresses this, so it holds great potential within the industry. This paper presents the concepts, ideas and working principles of the mobile robot...... this show promising results regarding industrial integration, exploitation and maturation of mobile robotics....

  10. Cooperating mobile robots

    Energy Technology Data Exchange (ETDEWEB)

    Harrington, John J.; Eskridge, Steven E.; Hurtado, John E.; Byrne, Raymond H.

    2004-02-03

    A miniature mobile robot provides a relatively inexpensive mobile robot. A mobile robot for searching an area provides a way for multiple mobile robots in cooperating teams. A robotic system with a team of mobile robots communicating information among each other provides a way to locate a source in cooperation. A mobile robot with a sensor, a communication system, and a processor, provides a way to execute a strategy for searching an area.

  11. Mobile Robot Navigation

    DEFF Research Database (Denmark)

    Andersen, Jens Christian

    2007-01-01

    Abstract Robots will soon take part in everyone’s daily life. In industrial production this has been the case for many years, but up to now the use of mobile robots has been limited to a few and isolated applications like lawn mowing, surveillance, agricultural production and military applications....... The research is now progressing towards autonomous robots which will be able to assist us in our daily life. One of the enabling technologies is navigation, and navigation is the subject of this thesis. Navigation of an autonomous robot is concerned with the ability of the robot to direct itself from...

  12. Situation Assessment for Mobile Robots

    DEFF Research Database (Denmark)

    Beck, Anders Billesø

    Mobile robots have become a mature technology. The first cable guided logistics robots were introduced in the industry almost 60 years ago. In this time the market for mobile robots in industry has only experienced a very modest growth and only 2.100 systems were sold worldwide in 2011. In recent...... years, many other domains have adopted the mobile robots, such as logistics robots at hospitals and the vacuum robots in our homes. However, considering the achievements in research the last 15 years within perception and operation in natural environments together with the reductions of costs in modern...... sensor systems, the growth potential for mobile robot applications are enormous. Many new technological components are available to move the limits of commercial mobile robot applications, but a key hindrance is reliability. Natural environments are complex and dynamic, and thus the risk of robots...

  13. Tandem mobile robot system

    Energy Technology Data Exchange (ETDEWEB)

    Buttz, James H. (Albuquerque, NM); Shirey, David L. (Albuquerque, NM); Hayward, David R. (Albuquerque, NM)

    2003-01-01

    A robotic vehicle system for terrain navigation mobility provides a way to climb stairs, cross crevices, and navigate across difficult terrain by coupling two or more mobile robots with a coupling device and controlling the robots cooperatively in tandem.

  14. 3D vision based on PMD-technology for mobile robots

    Science.gov (United States)

    Roth, Hubert J.; Schwarte, Rudolf; Ruangpayoongsak, Niramon; Kuhle, Joerg; Albrecht, Martin; Grothof, Markus; Hess, Holger

    2003-09-01

    A series of micro-robots (MERLIN: Mobile Experimental Robots for Locomotion and Intelligent Navigation) has been designed and implemented for a broad spectrum of indoor and outdoor tasks on basis of standardized functional modules like sensors, actuators, communication by radio link. The sensors onboard on the MERLIN robot can be divided into two categories: internal sensors for low-level control and for measuring the state of the robot and external sensors for obstacle detection, modeling of the environment and position estimation and navigation of the robot in a global co-ordinate system. The special emphasis of this paper is to describe the capabilities of MERLIN for obstacle detection, targets detection and for distance measurement. Besides ultrasonic sensors a new camera based on PMD-technology is used. This Photonic Mixer Device (PMD) represents a new electro-optic device that provides a smart interface between the world of incoherent optical signals and the world of their electronic signal processing. This PMD-technology directly enables 3D-imaging by means of the time-of-flight (TOF) principle. It offers an extremely high potential for new solutions in the robotics application field. The PMD-Technology opens up amazing new perspectives for obstacle detection systems, target acquisition as well as mapping of unknown environments.

  15. Educational techno mobile laboratory: robotics courses for low cost scientific and technological literacy

    Directory of Open Access Journals (Sweden)

    Jonathan Germain Ortiz Meza

    2012-11-01

    Full Text Available The robotics in education is a multidisciplinary branch of the engineering that has been an invaluable asset to promote the science and the technology as something fun. However, the high costs for the implementation as also the difficulty to train instructors have made the robotics more common only in first world countries, because generally they have more educational budget for this practices. For this reason the Educational Techno Mobile Lab was created; this Lab incorporates robotics courses based on BEAM robots and also sciences and cognitive practices. The objective of the Project is to create a new concept of learning based on a techno educative platform with the finality to promote the scientific and technological literacy to the development of knowledge and critical scientific thinking. The results of the evaluation present a 36% of improvement related science and technology knowledge on fourth grade students; these results show the necessity to incorporate a given robotic course to all the public education level.

  16. Controlling mobile robot via bluetooth

    OpenAIRE

    Cekova, Katerina; Gelev, Saso

    2016-01-01

    This paper describes hardware architecture of mobile robot, design and implementation of Android and Windows applications. It is use Bluetooth communication between mobile phone and mobile robot. The mobile robot is control by applications. Applications send message to the mobile robot to turn left, right or move forward or backward and to stop. The mobile robot is composed of Bluetooth module, Arduino Uno, H-Bridge, two DC motors, jumper wires and Breadboard.

  17. WebotsTM: Professional Mobile Robot Simulation

    Directory of Open Access Journals (Sweden)

    Olivier Michel

    2008-11-01

    Full Text Available Cyberbotics Ltd. develops WebotsTM, a mobile robotics simulation software that provides you with a rapid prototyping environment for modelling, programming and simulating mobile robots. The provided robot libraries enable you to transfer your control programs to several commercially available real mobile robots. WebotsTM lets you define and modify a complete mobile robotics setup, even several different robots sharing the same environment. For each object, you can define a number of properties, such as shape, color, texture, mass, friction, etc. You can equip each robot with a large number of available sensors and actuators. You can program these robots using your favorite development environment, simulate them and optionally transfer the resulting programs onto your real robots. WebotsTM has been developed in collaboration with the Swiss Federal Institute of Technology in Lausanne, thoroughly tested, well documented and continuously maintained for over 7 years. It is now the main commercial product available from Cyberbotics Ltd.

  18. Mobile robotics research at Sandia National Laboratories

    Energy Technology Data Exchange (ETDEWEB)

    Morse, W.D.

    1998-09-01

    Sandia is a National Security Laboratory providing scientific and engineering solutions to meet national needs for both government and industry. As part of this mission, the Intelligent Systems and Robotics Center conducts research and development in robotics and intelligent machine technologies. An overview of Sandia`s mobile robotics research is provided. Recent achievements and future directions in the areas of coordinated mobile manipulation, small smart machines, world modeling, and special application robots are presented.

  19. Autonomous mobile robot teams

    Science.gov (United States)

    Agah, Arvin; Bekey, George A.

    1994-01-01

    This paper describes autonomous mobile robot teams performing tasks in unstructured environments. The behavior and the intelligence of the group is distributed, and the system does not include a central command base or leader. The novel concept of the Tropism-Based Cognitive Architecture is introduced, which is used by the robots in order to produce behavior transforming their sensory information to proper action. The results of a number of simulation experiments are presented. These experiments include worlds where the robot teams must locate, decompose, and gather objects, and defend themselves against hostile predators, while navigating around stationary and mobile obstacles.

  20. A Simulation Framework for Evaluating Mobile Robots

    Science.gov (United States)

    2002-08-01

    A Simulation Framework for Evaluating Mobile Robots Stephen Balakirsky and Elena Messina National Institute of Standards and Technology Intelligent...deployment. Keywords: simulation, architectures, 4D/RCS, mobile robots , algo- rithm validation 1 Introduction There have been many recent successes in...DATES COVERED 00-00-2002 to 00-00-2002 4. TITLE AND SUBTITLE A Simulation Framework for Evaluating Mobile Robots 5a. CONTRACT NUMBER 5b. GRANT

  1. Mobile Robots in Human Environments

    DEFF Research Database (Denmark)

    Svenstrup, Mikael

    Traditionally, robots have been assistant machines in factories and a ubiquitous part of science fiction movies. But within the last decade the robots have started to emerge in everyday human environments. Today they are in our everyday environment in the shape of, for example, vacuum cleaners......, lawn mowers, toy pets, or as assisting technologies for care giving. If we want robots to be an even larger and more integrated part of our every- day environments, they need to become more intelligent, and behave safe and natural to the humans in the environment. This thesis deals with making...... intelligent mobile robotic devices capable of being a more natural and sociable actor in a human environment. More specific the emphasis is on safe and natural motion and navigation issues. First part of the work focus on developing a robotic system, which estimates human interest in interacting...

  2. Modular Platform for Commercial Mobile Robots

    OpenAIRE

    Kjærgaard, Morten; Ravn, Ole; Andersen, Nils Axel; Koed, Kakob

    2013-01-01

    Despite a rapid development in computers and sensor technologies, surprisingly few autonomous robot systems have successfully made it to the consumer market and into people's homes. Robotics is a popular topic in research circles, but focus is often on ground-breaking technologies, and not on putting the robots on the commercial market. At the time when this research project was started in May 2010, the amount of successful commercial applications based on mobile robots was very limited. The ...

  3. Ecological Interfaces for Improving Mobile Robot Teleoperation

    Science.gov (United States)

    2007-10-01

    IEEE TRANSACTIONS ON ROBOTICS , VOL. 23, NO. 5, OCTOBER 2007 927 Ecological Interfaces for Improving Mobile Robot Teleoperation Curtis W. Nielsen...928 IEEE TRANSACTIONS ON ROBOTICS , VOL. 23, NO. 5, OCTOBER 2007 technologies in the user studies, while Section VI concludes the paper and summarizes...done by 930 IEEE TRANSACTIONS ON ROBOTICS , VOL. 23, NO. 5, OCTOBER 2007 Fig. 2. Ecological paradigm combines information into a single integrated display

  4. Mobile Surveillance and Monitoring Robots

    Energy Technology Data Exchange (ETDEWEB)

    Kimberly, Howard R.; Shipers, Larry R.

    1999-07-14

    Long-term nuclear material storage will require in-vault data verification, sensor testing, error and alarm response, inventory, and maintenance operations. System concept development efforts for a comprehensive nuclear material management system have identified the use of a small flexible mobile automation platform to perform these surveillance and maintenance operations. In order to have near-term wide-range application in the Complex, a mobile surveillance system must be small, flexible, and adaptable enough to allow retrofit into existing special nuclear material facilities. The objective of the Mobile Surveillance and Monitoring Robot project is to satisfy these needs by development of a human scale mobile robot to monitor the state of health, physical security and safety of items in storage and process; recognize and respond to alarms, threats, and off-normal operating conditions; and perform material handling and maintenance operations. The system will integrate a tool kit of onboard sensors and monitors, maintenance equipment and capability, and SNL developed non-lethal threat response technology with the intelligence to identify threats and develop and implement first response strategies for abnormal signals and alarm conditions. System versatility will be enhanced by incorporating a robot arm, vision and force sensing, robust obstacle avoidance, and appropriate monitoring and sensing equipment.

  5. Vision Systems for Mobile Robots

    Science.gov (United States)

    1983-08-31

    McNellis, T.J.Jr., "Evaluation of a Laser Triangulation Ranging System for Mobile Robots ", " Technical Report MP-80, Rensselaer Polytechnic Institute...Troy, New York, August, 1982. 7. Clement, T.J. , "A Detailed Evaluation of a Laser Triangulation Ranging System for Mobile Robots ", Technical Report MP...82, Rensselaer Polytechnic Institute, Troy, New York, August, 1983. 8. Hoogeveen, A.L., "A Laser Triangulation Ranging System for Mobile Robots ", Technical

  6. Mobile robot sense net

    Science.gov (United States)

    Konolige, Kurt G.; Gutmann, Steffen; Guzzoni, Didier; Ficklin, Robert W.; Nicewarner, Keith E.

    1999-08-01

    Mobile robot hardware and software is developing to the point where interesting applications for groups of such robots can be contemplated. We envision a set of mobots acting to map and perform surveillance or other task within an indoor environment (the Sense Net). A typical application of the Sense Net would be to detect survivors in buildings damaged by earthquake or other disaster, where human searchers would be put a risk. As a team, the Sense Net could reconnoiter a set of buildings faster, more reliably, and more comprehensibly than an individual mobot. The team, for example, could dynamically form subteams to perform task that cannot be done by individual robots, such as measuring the range to a distant object by forming a long baseline stereo sensor form a pari of mobots. In addition, the team could automatically reconfigure itself to handle contingencies such as disabled mobots. This paper is a report of our current progress in developing the Sense Net, after the first year of a two-year project. In our approach, each mobot has sufficient autonomy to perform several tasks, such as mapping unknown areas, navigating to specific positions, and detecting, tracking, characterizing, and classifying human and vehicular activity. We detail how some of these tasks are accomplished, and how the mobot group is tasked.

  7. Survey of Mobile Robots.

    Science.gov (United States)

    1985-12-01

    STANDARDS-1963-A IMY Techical Report ND. 450-90G-1R-ODWa p. 00 SURVEY OF MOBLE ROBOTS ’ Anita N& Flym Research Scientist !; "IT Artificlal Intelligence...case of an attempt at system building before the technology for the components was available. 1.3 The Stanford Cart 1973-1981 From 1973 to 1981, work...autonomous and yet still exhibit a high level of sophistication. Rapidly changing technology , including both the advent of the home computer and

  8. Mobile Robots for Hospital Logistics

    DEFF Research Database (Denmark)

    Özkil, Ali Gürcan

    be and will be automated using mobile robots. This talk consequently addresses the key technical issues of implementing service robots in hospitals. In simple terms, a robotic system for automating hospital logistics has to be reliable, adaptable and scalable. Robots have to be semi-autonomous, and should reliably...... for localization. The system features automatic annotation, which significantly reduces manual work and offer many advantages beyond robotics. A case study on logistics solutions is finally presented. A robotic solution is tested in a hospital to handle the transportation of blood samples between the clinic...... and the lab. Without any environmental modification; it is shown that lab turnover time can be reduced from hours to minutes; by simply replacing the human porter with a mobile robot....

  9. Teleautonomous guidance for mobile robots

    Science.gov (United States)

    Borenstein, J.; Koren, Y.

    1990-01-01

    Teleautonomous guidance (TG), a technique for the remote guidance of fast mobile robots, has been developed and implemented. With TG, the mobile robot follows the general direction prescribed by an operator. However, if the robot encounters an obstacle, it autonomously avoids collision with that obstacle while trying to match the prescribed direction as closely as possible. This type of shared control is completely transparent and transfers control between teleoperation and autonomous obstacle avoidance gradually. TG allows the operator to steer vehicles and robots at high speeds and in cluttered environments, even without visual contact. TG is based on the virtual force field (VFF) method, which was developed earlier for autonomous obstacle avoidance. The VFF method is especially suited to the accommodation of inaccurate sensor data (such as that produced by ultrasonic sensors) and sensor fusion, and allows the mobile robot to travel quickly without stopping for obstacles.

  10. Herbert: A Second Generation Mobile Robot.

    Science.gov (United States)

    1988-01-01

    PROJECT. TASK S Artificial Inteligence Laboratory AREA A WORK UNIT NUMBERS ’ ~ 545 Technology Square Cambridge, MA 02139 11. CONTROLLING OFFICE NAME...AD-AI93 632 WMRT: A SECOND GENERTION MOBILE ROWT(U) / MASSACHUSETTS IMST OF TECH CAMBRIDGE ARTIFICIAL INTELLIGENCE LAB R BROOKS ET AL .JAN l8 Al-M...MASSACHUSETTS INSTITUTE OF TECHNOLOGY ARTIFICIAL INTELLIGENCE LABORATORY A. I. Memo 1016 January, 1988 HERBERT: A SECOND GENERATION MOBILE ROBOT Rodney A

  11. Modular Platform for Commercial Mobile Robots

    DEFF Research Database (Denmark)

    Kjærgaard, Morten

    Despite a rapid development in computers and sensor technologies, surprisingly few autonomous robot systems have successfully made it to the consumer market and into people's homes. Robotics is a popular topic in research circles, but focus is often on ground-breaking technologies......, and not on putting the robots on the commercial market. At the time when this research project was started in May 2010, the amount of successful commercial applications based on mobile robots was very limited. The most known applications were vacuum cleaners, lawn mowers, and few examples of specialized transport...... robots used in warehouses and hospitals. At the same time, despite attempting to solve the same tasks and applications, the resulting software and products of research groups was very fragmented. Even if being open source, the software was based on self-made frameworks and often only used internally...

  12. A control system of mobile navigation robot for precise spraying based ultrasonic detecting and ARM embedded technologies

    Science.gov (United States)

    Tang, Xiuying; Li, Cuiling; Wang, Xiu; Yue, Xinpeng; Peng, Yankun

    2011-06-01

    This paper described a control system of mobile navigation robot for precision spraying in greenhouse environment, which were composed of main control module, motor driving module, ultrasonic detecting module and wirless remote control module. The hard circuits of control system were built. The main control module used ARM7TDMI-S-based LPC2210 micro-processing controller. The motor driving module consisted of voltage amplifier circuit based SN74LS245N and DM74LS244N chips, RC filter circuit, and HM-YZ-30 DC brush motor driver. The ultrasonic detecting module consisted of four standard ultrasonic ranging modules which were arranged on the four sides around the mobile navigation robot, and used GM8125 chip to expand serial communication interfaces. An obstacle-avoiding strategy and its algorithm were proposed and the control programs of mobile navigation robot were programmed. The mobile navigation robot for spraying can realize the actions such as starting and stopping, forward and backward moving, accelerate and decelerate motion, and right and left turn. Finally, the functional experiments of the mobile navigation robot were conducted in the laboratory environment. The results showed that the ultrasonic detecting distance of the robot was 50.5mm-1832.0mm and detecting blind zone was less than 50mm, the ultrasonic detecting angle of individual ultrasonic detecting module of robot was similar to U-shaped and its vaule was about 45.66°, and the moving path of navigation robot was approximately linear.

  13. Plant Watering Autonomous Mobile Robot

    National Research Council Canada - National Science Library

    Hema Nagaraja; Reema Aswani; Monisha Malik

    2012-01-01

    .... The system comprises of a mobile robot and a temperature-humidity sensing module. The system is fully adaptive to any environment and takes into account the watering needs of the plants using the temperature-humidity sensing module...

  14. Benchmark Framework for Mobile Robots Navigation Algorithms

    Directory of Open Access Journals (Sweden)

    Nelson David Muñoz-Ceballos

    2014-01-01

    Full Text Available Despite the wide variety of studies and research on mobile robot systems, performance metrics are not often examined. This makes difficult to establish an objective comparison of achievements. In this paper, the navigation of an autonomous mobile robot is evaluated. Several metrics are described. These metrics, collectively, provide an indication of navigation quality, useful for comparing and analyzing navigation algorithms of mobile robots. This method is suggested as an educational tool, which allows the student to optimize the algorithms quality, relating to important aspectsof science, technology and engineering teaching, as energy consumption, optimization and design.

  15. Intelligent Mobile Robot Motion Control in Unstructured Environments

    Directory of Open Access Journals (Sweden)

    Gyula Mester

    2010-11-01

    Full Text Available This paper presents the intelligent wheeled mobile robot motion control inunstructured environments. The fuzzy control of a wheeled mobile robot motion inunstructured environments with obstacles and slopes is proposed. Outputs of the fuzzycontroller are the angular speed difference between the left and right wheels of the mobilerobot and the mobile robot velocity. The simulation results show the effectiveness and thevalidity of the obstacle avoidance behavior in an unstructured environment and the velocitycontrol of a wheeled mobile robot motion of the proposed fuzzy control strategy. Wirelesssensor-based remote control of mobile robots motion in unstructured environments usingthe Sun SPOT technology is proposed. The proposed method has been implemented on theminiature mobile robot Khepera that is equipped with sensors. Finally, the effectivenessand efficiency of the proposed sensor-based remote control strategy are demonstrated byexperimental studies and good experimental results.

  16. Mobile robot and mobile manipulator research towards ASTM standards development

    Science.gov (United States)

    Bostelman, Roger; Hong, Tsai; Legowik, Steven

    2016-05-01

    Performance standards for industrial mobile robots and mobile manipulators (robot arms onboard mobile robots) have only recently begun development. Low cost and standardized measurement techniques are needed to characterize system performance, compare different systems, and to determine if recalibration is required. This paper discusses work at the National Institute of Standards and Technology (NIST) and within the ASTM Committee F45 on Driverless Automatic Guided Industrial Vehicles. This includes standards for both terminology, F45.91, and for navigation performance test methods, F45.02. The paper defines terms that are being considered. Additionally, the paper describes navigation test methods that are near ballot and docking test methods being designed for consideration within F45.02. This includes the use of low cost artifacts that can provide alternatives to using relatively expensive measurement systems.

  17. Evolutionary neurocontrollers for autonomous mobile robots.

    Science.gov (United States)

    Floreano, D; Mondada, F

    1998-10-01

    In this article we describe a methodology for evolving neurocontrollers of autonomous mobile robots without human intervention. The presentation, which spans from technological and methodological issues to several experimental results on evolution of physical mobile robots, covers both previous and recent work in the attempt to provide a unified picture within which the reader can compare the effects of systematic variations on the experimental settings. After describing some key principles for building mobile robots and tools suitable for experiments in adaptive robotics, we give an overview of different approaches to evolutionary robotics and present our methodology. We start reviewing two basic experiments showing that different environments can shape very different behaviours and neural mechanisms under very similar selection criteria. We then address the issue of incremental evolution in two different experiments from the perspective of changing environments and robot morphologies. Finally, we investigate the possibility of evolving plastic neurocontrollers and analyse an evolved neurocontroller that relies on fast and continuously changing synapses characterized by dynamic stability. We conclude by reviewing the implications of this methodology for engineering, biology, cognitive science and artificial life, and point at future directions of research.

  18. (Mobile robots and intelligent motion control)

    Energy Technology Data Exchange (ETDEWEB)

    Pin, F.G.

    1990-09-07

    The traveler attended the IEEE International Workshop on Intelligent Motion Control, presented a paper entitled Autonomous Trajectory Generation for Mobile Robots with Non-Holonomic and Steering Angel Constraints,'' and chaired the session on mobile robots. Sessions of particular interests to ONRL/CESAR included Mobile Robots 1, 2, and 3, Motion Planning 1 and 2, Flexible Robots, Knowledge-Based Robotics Systems, Multi-Robot Systems, Redundant Robots, and Learning and Fuzzy Control 1 and 2. The traveler also visited the robotics laboratory of Bogazici University and held several discussions on design on redundant, compliant, reconfigurable, and dynamically balanced manipulators.

  19. Learning for intelligent mobile robots

    Science.gov (United States)

    Hall, Ernest L.; Liao, Xiaoqun; Alhaj Ali, Souma M.

    2003-10-01

    Unlike intelligent industrial robots which often work in a structured factory setting, intelligent mobile robots must often operate in an unstructured environment cluttered with obstacles and with many possible action paths. However, such machines have many potential applications in medicine, defense, industry and even the home that make their study important. Sensors such as vision are needed. However, in many applications some form of learning is also required. The purpose of this paper is to present a discussion of recent technical advances in learning for intelligent mobile robots. During the past 20 years, the use of intelligent industrial robots that are equipped not only with motion control systems but also with sensors such as cameras, laser scanners, or tactile sensors that permit adaptation to a changing environment has increased dramatically. However, relatively little has been done concerning learning. Adaptive and robust control permits one to achieve point to point and controlled path operation in a changing environment. This problem can be solved with a learning control. In the unstructured environment, the terrain and consequently the load on the robot"s motors are constantly changing. Learning the parameters of a proportional, integral and derivative controller (PID) and artificial neural network provides an adaptive and robust control. Learning may also be used for path following. Simulations that include learning may be conducted to see if a robot can learn its way through a cluttered array of obstacles. If a situation is performed repetitively, then learning can also be used in the actual application. To reach an even higher degree of autonomous operation, a new level of learning is required. Recently learning theories such as the adaptive critic have been proposed. In this type of learning a critic provides a grade to the controller of an action module such as a robot. The creative control process is used that is "beyond the adaptive critic." A

  20. Adaptive Behavior for Mobile Robots

    Science.gov (United States)

    Huntsberger, Terrance

    2009-01-01

    The term "System for Mobility and Access to Rough Terrain" (SMART) denotes a theoretical framework, a control architecture, and an algorithm that implements the framework and architecture, for enabling a land-mobile robot to adapt to changing conditions. SMART is intended to enable the robot to recognize adverse terrain conditions beyond its optimal operational envelope, and, in response, to intelligently reconfigure itself (e.g., adjust suspension heights or baseline distances between suspension points) or adapt its driving techniques (e.g., engage in a crabbing motion as a switchback technique for ascending steep terrain). Conceived for original application aboard Mars rovers and similar autonomous or semi-autonomous mobile robots used in exploration of remote planets, SMART could also be applied to autonomous terrestrial vehicles to be used for search, rescue, and/or exploration on rough terrain.

  1. Multiresolution Path Planning for Mobile Robots,

    Science.gov (United States)

    1985-05-01

    8217U’ MULTIRESOLUTION PATH PLANNING * . FOR MOBILE ROBOTS I Subbarao Kambhampati * -- Larry S. Davis Computer Vision Laboratory * Center for Automation...COUWEPARK MARVUM EP Vo Is- .. . .. CAR-TR-127 DAAK70-83-K--0018 CS-TR-1507 MAY 1085 MULTIRESOLUTION PATH PLANNING FOR MOBILE ROBOTS Subbarao Kambhampati...planning is central to mobile * robot applications. Path planning for mobile robots is in many ways different * from the more familiar case of path

  2. Motion Control of Wheeled Mobile Robots

    Directory of Open Access Journals (Sweden)

    Birol Kocaturk

    2015-01-01

    Full Text Available This article presents strategy for navigation of a wheeled mobile robot in unstructured environments with obstacles. The vehicle has two wheels independently to control the angular velocity. This work deals with mobile robots modelling then control strategies and simulation results. Simulation results recommends fuzzy logic controller for the wheeled mobile robot motion in unstructured environments.

  3. Localization of Wheeled Mobile Robot Based on Extended Kalman Filtering

    Directory of Open Access Journals (Sweden)

    Li Guangxu

    2015-01-01

    Full Text Available A mobile robot localization method which combines relative positioning with absolute orientation is presented. The code salver and gyroscope are used for relative positioning, and the laser radar is used to detect absolute orientation. In this paper, we established environmental map, multi-sensor information fusion model, sensors and robot motion model. The Extended Kalman Filtering (EKF is adopted as multi-sensor data fusion technology to realize the precise localization of wheeled mobile robot.

  4. Mobile robot self-localization system using single webcam distance measurement technology in indoor environments.

    Science.gov (United States)

    Li, I-Hsum; Chen, Ming-Chang; Wang, Wei-Yen; Su, Shun-Feng; Lai, To-Wen

    2014-01-27

    A single-webcam distance measurement technique for indoor robot localization is proposed in this paper. The proposed localization technique uses webcams that are available in an existing surveillance environment. The developed image-based distance measurement system (IBDMS) and parallel lines distance measurement system (PLDMS) have two merits. Firstly, only one webcam is required for estimating the distance. Secondly, the set-up of IBDMS and PLDMS is easy, which only one known-dimension rectangle pattern is needed, i.e., a ground tile. Some common and simple image processing techniques, i.e., background subtraction are used to capture the robot in real time. Thus, for the purposes of indoor robot localization, the proposed method does not need to use expensive high-resolution webcams and complicated pattern recognition methods but just few simple estimating formulas. From the experimental results, the proposed robot localization method is reliable and effective in an indoor environment.

  5. Mobile Robot Self-Localization System Using Single Webcam Distance Measurement Technology in Indoor Environments

    Directory of Open Access Journals (Sweden)

    I-Hsum Li

    2014-01-01

    Full Text Available A single-webcam distance measurement technique for indoor robot localization is proposed in this paper. The proposed localization technique uses webcams that are available in an existing surveillance environment. The developed image-based distance measurement system (IBDMS and parallel lines distance measurement system (PLDMS have two merits. Firstly, only one webcam is required for estimating the distance. Secondly, the set-up of IBDMS and PLDMS is easy, which only one known-dimension rectangle pattern is needed, i.e., a ground tile. Some common and simple image processing techniques, i.e., background subtraction are used to capture the robot in real time. Thus, for the purposes of indoor robot localization, the proposed method does not need to use expensive high-resolution webcams and complicated pattern recognition methods but just few simple estimating formulas. From the experimental results, the proposed robot localization method is reliable and effective in an indoor environment.

  6. Mobile Robots for Outdoor Security Applications

    Science.gov (United States)

    1999-04-01

    1 everett-2 MOBILE ROBOTS FOR OUTDOOR SECURITY APPLICATIONS Tracy Heath Pastore (SSC-SD), H. R. Everett (SSC-SD), Kevin Bonner (RST) Space and...APR 1999 2. REPORT TYPE N/A 3. DATES COVERED - 4. TITLE AND SUBTITLE Mobile Robots for Outdoor Security Applications 5a. CONTRACT NUMBER...Based Intruder Detection for a Robotic Security System," SPIE Mobile Robots XIII, Boston, MA, 1-6 November, 1998. Everett, H.R., Gilbreath, G.A

  7. Reconfiguration of Mobile Robot

    Directory of Open Access Journals (Sweden)

    Ashish K. Thakre

    2012-03-01

    Full Text Available Dynamic Partial Reconfiguration (DPR of FPGAs presents many opportunities for application design flexibility, enabling tasks to dynamically swap in and out of the FPGA without entire system interruption. In this paper, we will implement a line follower robot for the white line as well as for black line; both these modules will be programmed in VHDL. The robot will dynamically reconfigure the FPGA in the run-time while the robot senses black line after white line or vice-versa. This design includes two modules one is static and the other is partially reconfigurable regions (PRR which is a dynamic region. The controllers are the static modules used for controlling the flow of data to and from the reconfigurable modules to the external world (host environment through busmacros. Whereas white line and black line modules are designed as dynamic modules. Different hardware modules will be used such as Sensors and actuators , all these modules will be interfaced using FPGA controller. The speed of motor is controlled using pulse width modulation (PWM using VHDL

  8. Plant Watering Autonomous Mobile Robot

    Directory of Open Access Journals (Sweden)

    Hema Nagaraja

    2012-07-01

    Full Text Available Now days, due to busy routine life, people forget to water their plants. In this paper, we present a completely autonomous and a cost-effective system for watering indoor potted plants placed on an even surface. The system comprises of a mobile robot and a temperature-humidity sensing module. The system is fully adaptive to any environment and takes into account the watering needs of the plants using the temperature-humidity sensing module. The paper describes the hardware architecture of the fully automated watering system, which uses wireless communication to communicate between the mobile robot and the sensing module. This gardening robot is completely portable and is equipped with a Radio Frequency Identification (RFID module, a microcontroller, an on-board water reservoir and an attached water pump. It is capable of sensing the watering needs of the plants, locating them and finally watering them autonomously without any human intervention. Mobilization of the robot to the potted plant is achieved by using a predefined path. For identification, an RFID tag is attached to each potted plant. The paper also discusses the detailed implementation of the system supported with complete circuitry. Finally, the paper concludes with system performance including the analysis of the water carrying capacity and time requirements to water a set of plants.

  9. Mechatronics Design of a Mobile Robot System

    Directory of Open Access Journals (Sweden)

    Ahmad A. Mahfouz

    2013-02-01

    Full Text Available Mobile robot motion control is simplified to a DC motor motion control that may include gear system. The simplest and widespread approach to control the mobile robot motion is the differential drive style, it consists of two in-lines with each a DC motor. Both DC motors are independently powered so the desired movements will rely on how these two DC motors are commanded. Thedevelop design, model and control of Mechatronics mobile robotic system is presented in this paper. The developed robotic system is intended for research purposes as well as for educational process. The model of proposed mobile robot was created and verified using MATLAB-Simulink software.

  10. Mobile Robot Positioning - Sensors and Techniques

    Science.gov (United States)

    1997-01-01

    Inertial Navigation Systems Mobile Robots.” IEEE Transactions on Robotics and Automation, Vol. 11, No. 3, June, pp. 328-342. 4. Battin, R. H., 1987...Results from Internal Odometry Error Correction With the OmniMate Mobile Platform." Submitted to the IEEE Transactions on Robotics and Automation, July 1996

  11. Certainty grids for mobile robots

    Science.gov (United States)

    Moravec, H. P.

    1987-01-01

    A numerical representation of uncertain and incomplete sensor knowledge called Certainty Grids has been used successfully in several mobile robot control programs, and has proven itself to be a powerful and efficient unifying solution for sensor fusion, motion planning, landmark identification, and many other central problems. Researchers propose to build a software framework running on processors onboard the new Uranus mobile robot that will maintain a probabilistic, geometric map of the robot's surroundings as it moves. The certainty grid representation will allow this map to be incrementally updated in a uniform way from various sources including sonar, stereo vision, proximity and contact sensors. The approach can correctly model the fuzziness of each reading, while at the same time combining multiple measurements to produce sharper map features, and it can deal correctly with uncertainties in the robot's motion. The map will be used by planning programs to choose clear paths, identify locations (by correlating maps), identify well-known and insufficiently sensed terrain, and perhaps identify objects by shape. The certainty grid representation can be extended in the same dimension and used to detect and track moving objects.

  12. Communications Systems for Mobile Robotics

    Energy Technology Data Exchange (ETDEWEB)

    Futterman, J A; Pao, H

    2003-12-08

    Performance Confirmation is the activity by which the Yucca Mountain Project confirms that the engineered and natural containment barriers of this national nuclear waste repository are performing as predicted, so that an eventual decision to close the repository can be made. This activity involves systems that must be inspected and, in some cases, serviced by mobile robots. This paper discusses systems for underground mobile robot communications, including requirements, environments, options, issues, and down-select criteria. We reviewed a variety of systems, including Slotted Waveguide, Powerline Carrier, Leaky Feeder, Photonic Bandgap Fiber, Free-Space Optics, Millimeter Waves, Terahertz Systems, and RF Systems (including IEEE 802.11 a,b, and g, and Ultra-Wideband radio).

  13. Autonomous mobile robots: Vehicles with cognitive control

    Energy Technology Data Exchange (ETDEWEB)

    Meystel, A.

    1987-01-01

    This book explores a new rapidly developing area of robotics. It describes the state-of-the-art intelligence control, applied machine intelligence, and research and initial stages of manufacturing of autonomous mobile robots. A complete account of the theoretical and experimental results obtained during the last two decades together with some generalizations on Autonomous Mobile Systems are included in this book. Contents: Introduction; Requirements and Specifications; State-of-the-art in Autonomous Mobile Robots Area; Structure of Intelligent Mobile Autonomous System; Planner, Navigator; Pilot; Cartographer; Actuation Control; Computer Simulation of Autonomous Operation; Testing the Autonomous Mobile Robot; Conclusions; Bibliography.

  14. Accelerometer for mobile robot positioning

    OpenAIRE

    Liu, HS; Pang, GKH

    1999-01-01

    An evaluation of a low-cost, small sized solid state accelerometer is described in this paper. The sensor is intended for positioning of a mobile robot or platform. The acceleration signal outputted by the sensor is doubly integrated with time which yields the traveled distance. Bias offset drift exhibits in the acceleration signal is accumulative and the accuracy of the distance measurement deteriorates with time due to the integration. A Kalman filter is used to reduce errors caused by rand...

  15. Meeting the challenges of installing a mobile robotic system

    Science.gov (United States)

    Decorte, Celeste

    1994-01-01

    The challenges of integrating a mobile robotic system into an application environment are many. Most problems inherent to installing the mobile robotic system fall into one of three categories: (1) the physical environment - location(s) where, and conditions under which, the mobile robotic system will work; (2) the technological environment - external equipment with which the mobile robotic system will interact; and (3) the human environment - personnel who will operate and interact with the mobile robotic system. The successful integration of a mobile robotic system into these three types of application environment requires more than a good pair of pliers. The tools for this job include: careful planning, accurate measurement data (as-built drawings), complete technical data of systems to be interfaced, sufficient time and attention of key personnel for training on how to operate and program the robot, on-site access during installation, and a thorough understanding and appreciation - by all concerned - of the mobile robotic system's role in the security mission at the site, as well as the machine's capabilities and limitations. Patience, luck, and a sense of humor are also useful tools to keep handy during a mobile robotic system installation. This paper will discuss some specific examples of problems in each of three categories, and explore approaches to solving these problems. The discussion will draw from the author's experience with on-site installations of mobile robotic systems in various applications. Most of the information discussed in this paper has come directly from knowledge learned during installations of Cybermotion's SR2 security robots. A large part of the discussion will apply to any vehicle with a drive system, collision avoidance, and navigation sensors, which is, of course, what makes a vehicle autonomous. And it is with these sensors and a drive system that the installer must become familiar in order to foresee potential trouble areas in the

  16. Autonomous Mobile Robots.

    Science.gov (United States)

    1986-01-30

    unactuated and un.ensed degrees-of-freedom. We apply the Sheth-Uicker convention *.-’*.- to assign coordinate axes and develop a matriz coordinate...instantaneously coincident coordinate systems by defining matriz coordinate trans- Jormation algebra. An algebra consists of a set of operands and a set of...conference on Computers in Engineering, Boston , August, 1985. * Moravec, H. P. and L. H. Matthies, ads., Vsion, Planning and Control for Mobile

  17. Autonomous Mobile Robot That Can Read

    OpenAIRE

    Létourneau Dominic; Michaud François; Valin Jean-Marc

    2004-01-01

    The ability to read would surely contribute to increased autonomy of mobile robots operating in the real world. The process seems fairly simple: the robot must be capable of acquiring an image of a message to read, extract the characters, and recognize them as symbols, characters, and words. Using an optical Character Recognition algorithm on a mobile robot however brings additional challenges: the robot has to control its position in the world and its pan-tilt-zoom camera to find textual me...

  18. Field testing of a remote controlled robotic tele-echo system in an ambulance using broadband mobile communication technology.

    Science.gov (United States)

    Takeuchi, Ryohei; Harada, Hiroshi; Masuda, Kohji; Ota, Gen-ichiro; Yokoi, Masaki; Teramura, Nobuyasu; Saito, Tomoyuki

    2008-06-01

    We report the testing of a mobile Robotic Tele-echo system that was placed in an ambulance and successfully transmitted clear real time echo imaging of a patient's abdomen to the destination hospital from where this device was being remotely operated. Two-way communication between the paramedics in this vehicle and a doctor standing by at the hospital was undertaken. The robot was equipped with an ultrasound probe which was remotely controlled by the clinician at the hospital and ultrasound images of the patient were transmitted wirelessly. The quality of the ultrasound images that were transmitted over the public mobile telephone networks and those transmitted over the Multimedia Wireless Access Network (a private networks) were compared. The transmission rate over the public networks and the private networks was approximately 256 Kbps, 3 Mbps respectively. Our results indicate that ultrasound images of far higher definition could be obtained through the private networks.

  19. A Motion Planning System for Mobile Robots

    Directory of Open Access Journals (Sweden)

    TUNCER, A.

    2012-02-01

    Full Text Available In this paper, a motion planning system for a mobile robot is proposed. Path planning tries to find a feasible path for mobile robots to move from a starting node to a target node in an environment with obstacles. A genetic algorithm is used to generate an optimal path by taking the advantage of its strong optimization ability. Mobile robot, obstacle and target localizations are realized by means of camera and image processing. A graphical user interface (GUI is designed for the motion planning system that allows the user to interact with the robot system and to observe the robot environment. All the software components of the system are written in MATLAB that provides to use non-predefined accessories rather than the robot firmware has, to avoid confusing in C++ libraries of robot's proprietary software, to control the robot in detail and not to re-compile the programs frequently in real-time dynamic operations.

  20. Mobile robots for hazardous environments

    Energy Technology Data Exchange (ETDEWEB)

    Bains, N.; Scott, D.A.; Tran, K.; Campbell, T. (Atomic Energy of Canada Ltd., Mississauga, Ontario (Canada))

    1992-01-01

    This paper describes the development of a mobile robot ARK-2 (Autonomous Robot for Known Environments) that utilizes a number of sensors for navigation in a known relatively structured indoor environment. At present, there are robots that can be preprogrammed and that move along a specified path, but they use dead-reckoning to evaluate position at any point along their paths, and this can lead to major error accumulation through wheel slippage and running over unforeseen objects on the floor. The ARK-2 robot will have the intelligence to determine its position utilizing natural landmarks at any point along its path; it is this feature that gives ARK-2 its uniqueness as well as its ability to operate in an industrial environment. The project started in September 1991 and will last 4 yr. There are five organizations involved in the project: Ontario Hydro, Atomic Energy of Canada Limited (AECL) CANDU, US Nuclear Regulatory Commission (NRC), University of Toronto, and York University. Funding is provided by the organizations involved as well as the federal and provincial governments and PRECARN Associates, which is a nonprofit precompetitive research consortium made up of 38 members.

  1. Portable control device for networked mobile robots

    Energy Technology Data Exchange (ETDEWEB)

    Feddema, John T. (Albuquerque, NM); Byrne, Raymond H. (Albuquerque, NM); Bryan, Jon R. (Edgewood, NM); Harrington, John J. (Albuquerque, NM); Gladwell, T. Scott (Albuquerque, NM)

    2002-01-01

    A handheld control device provides a way for controlling one or multiple mobile robotic vehicles by incorporating a handheld computer with a radio board. The device and software use a personal data organizer as the handheld computer with an additional microprocessor and communication device on a radio board for use in controlling one robot or multiple networked robots.

  2. Modular Track System For Positioning Mobile Robots

    Science.gov (United States)

    Miller, Jeff

    1995-01-01

    Conceptual system for positioning mobile robotic manipulators on large main structure includes modular tracks and ancillary structures assembled easily along with main structure. System, called "tracked robotic location system" (TROLS), originally intended for application to platforms in outer space, but TROLS concept might also prove useful on Earth; for example, to position robots in factories and warehouses. T-cross-section rail keeps mobile robot on track. Bar codes mark locations along track. Each robot equipped with bar-code-recognizing circuitry so it quickly finds way to assigned location.

  3. Face feature processor on mobile service robot

    Science.gov (United States)

    Ahn, Ho Seok; Park, Myoung Soo; Na, Jin Hee; Choi, Jin Young

    2005-12-01

    In recent years, many mobile service robots have been developed. These robots are different from industrial robots. Service robots were confronted to unexpected changes in the human environment. So many capabilities were needed to service mobile robot, for example, the capability to recognize people's face and voice, the capability to understand people's conversation, and the capability to express the robot's thinking etc. This research considered face detection, face tracking and face recognition from continuous camera image. For face detection module, it used CBCH algorithm using openCV library from Intel Corporation. For face tracking module, it used the fuzzy controller to control the pan-tilt camera movement smoothly with face detection result. A PCA-FX, which adds class information to PCA, was used for face recognition module. These three procedures were called face feature processor, which were implemented on mobile service robot OMR to verify.

  4. Toward the Automated Synthesis of Cooperative Mobile Robot Teams

    Energy Technology Data Exchange (ETDEWEB)

    Parker, L.E.

    1998-11-01

    A current limitation in the real-world use of cooperating mobiIe robots is the difficulty in determining the proper team composition for a given robotic application. Present technology restricts the design and implementation of cooperative robot teams to the expertise of a robotics researcher, who has to develop robot teams on an application-specific basis. The objective of our research is to reduce the complexity of cooperative robotic systems through the development of a methodology that enables the automated synthesis of cooperative robot teams. We propose an approach to this problem that uses a combination of the theories of sensori-computational systems and information invariants, building on the earlier work of Donald, Rus, et al. We describe the notion of defining equivalence classes that serve as fundamental building blocks of more complex cooperative mobile robot behaviors. We postulate a methodology for framing mission requirements in terms of the goals and constraints of the problem, incorporating issues such as multi-robot interference, communication, control strategy, robot complexity, and so forth, into the mechanism. Our initial work restricts the robot application and design space to three multi-robot application domains we have previously studied and implemented: keeping formation, "mock" hazardous waste cleanup, and cooperative observation. This paper presents the foundational ideas upon which our approach to cooperative team design is based. Keywords: Cooperative behaviors, behavior synthesis, multi-robot learning

  5. Vision-guided heterogeneous mobile robot docking

    Science.gov (United States)

    Spofford, John R.; Blitch, John; Klarquist, William N.; Murphy, Robin R.

    1999-08-01

    Teams of heterogeneous mobile robots are a key aspect of future unmanned system for operations in complex and dynamic urban environments, such as that envisioned by DARPA's Tactical Mobile Robotics program. One examples of an interaction among such team members is the docking of small robot of limited sensory and processing capability with a larger, more capable robot. Applications for such docking include the transfer of power, data, and materia, as well as physically combined maneuver or manipulation. A two-robot system is considered in this paper. The smaller 'throwable' robot contains a video camera capable of imaging the larger 'packable' robot and transmitting the imagery. The packable robot can both sense the throwable robot through an onboard camera, as well as sense itself through the throwable robot's transmitted video, and is capable of processing imagery from either source. This paper describes recent results in the development of control and sensing strategies for automatic mid-range docking of these two robots. Decisions addressed include the selection of which robot's image sensor to use and which robot to maneuver. Initial experimental results are presented for docking using sensor data from each robot.

  6. Modelling and Control of a Mobile Robot

    DEFF Research Database (Denmark)

    Christensen, Georg Kronborg

    1998-01-01

    In order to control a mobile robot, kinematic odels as well as dynamic models are required. This parer describes these basic models for an experimental mobile robot under construction at the Department of Control and Engineering Design. A description of a set of trajectory control rules is given...

  7. Mobile Robot Navigation Support in Living Environments

    Science.gov (United States)

    Armbrust, Christopher; Koch, Jan; Stocker, Ulf; Berns, Karsten

    Navigation and application functionality of mobile robots rely on their collision-avoiding capabilities, also known as local navigation. We present the mobile robot ARTOS (Autonomous Robot for Transport and Service) that is particularly designed to operate in living environments and therefore faces the problem of fuzzy and unstructured obstacles. The local navigation architecture is motivated regarding decisions on sensor hardware setup as well as the software layers that support and influence navigation control.

  8. Robots Social Embodiment in Autonomous Mobile Robotics

    Directory of Open Access Journals (Sweden)

    Brian Duffy

    2008-11-01

    Full Text Available This work aims at demonstrating the inherent advantages of embracing a strong notion of social embodiment in designing a real-world robot control architecture with explicit ?intelligent? social behaviour between a collective of robots. It develops the current thinking on embodiment beyond the physical by demonstrating the importance of social embodiment. A social framework develops the fundamental social attributes found when more than one robot co-inhabit a physical space. The social metaphors of identity, character, stereotypes and roles are presented and implemented within a real-world social robot paradigm in order to facilitate the realisation of explicit social goals.

  9. Robotics_MobileRobot Navigation Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Robots and rovers exploring planets need to autonomously navigate to specified locations. Advanced Scientific Concepts, Inc. (ASC) and the University of Minnesota...

  10. Research on stereo vision path-planning algorithms for mobile robots autonomous navigation

    Institute of Scientific and Technical Information of China (English)

    ZHANG Guo-wei; LU Qiu-hong

    2009-01-01

    Using stereo vision for autonomous mobile robot path-planning is a hot technology. The environment mapping and path-planning algorithms were introduced, and they were applied in the autonomous mobile robot experiment platform. Through experiments in the robot platform, the effectiveness of these algorithms was verified.

  11. Wireless security system implemented in a mobile robot

    Directory of Open Access Journals (Sweden)

    Lemuel Uitzil

    2012-07-01

    Full Text Available This paper presents the design and implementation of a security system in which a mobile robot Lego NXT continuously monitors its surroundings while traveling in search of moving objects or people, considered unauthorized elements. An ultrasonic sensor is used for the monitoring. On suspicious movement detection, a warning signal is sent to a computer via Bluetooth technology. The mobile robot motion is observed with a camera that sends images to the computer controlling the robot remotely. The results indicate that the security system is reliable in 85% of cases.

  12. Controller Design Of Unicycle Mobile Robot

    Directory of Open Access Journals (Sweden)

    Mohd Zamzuri Abd Rashid

    2012-10-01

    Full Text Available ABSTRACT: The ability of unicycle mobile robot to stand and move around using one wheel has attracted a lot of researchers to conduct studies about the system, particularly in the design of the system mechanisms and the control strategies. This paper reports the investigation done on the design of the controller of the unicycle mobile robot system to maintain its stability in both longitudinal and lateral directions. The controller proposed is a Linear Quadratic Controller (LQR type which is based on the linearized model of the system. A thorough simulation studies have been carried out to find out the performance of the LQR controller. The best controller gain, K acquired through the simulation is selected to be implemented and tested in the experimental hardware. Finally, the results obtained from the experimental study are compared to the simulation results to study the controller efficacy. The analysis reveals that the proposed controller design is able to stabilize the unicycle mobile robot.ABSTRAK: Kemampuan robot satu roda untuk berdiri dan bergerak di sekitar telah menarik minat ramai penyelidik untuk mengkaji sistem robot terutamanya didalam bidang rangka mekanikal dan strategi kawalan robot. Kertas kajian ini melaporkan hasil penyelidikan ke atas strategi kawalan robot bagi memastikan sistem robot satu roda dapat distabilkan dari arah sisi dan hadapan. Strategi kawalan yang dicadang, menggunakan teknik kawalan kuadratik sejajar (Linear Quadratic Control yang berdasarkan model robot yang telah dipermudahkan. Kajian simulasi secara terperinci telah dijalankan bagi mengkaji prestasi strategi kawalan yang dicadangkan. Dari kajian simulasi sistem robot, pemilihan faktor konstan, K yang sesuai di dalam strategi kawalan telah dibuat, agar dapat dilaksanakan ke atas sistem robot yang dibangunkan. Keputusan dari kajian simulasi dan tindak balas oleh sistem robot yang dibangunkan akhirnya dibandingkan bagi melihat kesesuaian faktor kostan, K

  13. Robot Technology: Implications for Education.

    Science.gov (United States)

    Post, Paul E.; And Others

    1988-01-01

    Provides an introduction to robotic technology, and describes current robot models. Three ways of using robots in education are discussed--as exemplars of other processes, as objects of instruction, and as prosthetic aids--and selection criteria are outlined. (17 references) (CLB)

  14. OPTIMAL TOUR CONSTRUCTIONS FOR MULTIPLE MOBILE ROBOTS

    Directory of Open Access Journals (Sweden)

    AMIR A. SHAFIE

    2011-04-01

    Full Text Available The attempts to use mobile robots in a variety of environments are currently being limited by their navigational capability, thus a set of robots must be configured for one specific environment. The problem of navigating an environment is the fundamental problem in mobile robotic where various methods including exact and heuristic approaches have been proposed to solve the problem. This paper proposed a solution to the navigation problem via the use of multiple robots to explore the environment employing heuristic methods to navigate the environment using a variant of a Traveling Salesman Problem (TSP known as Multiple Traveling Salesman Problem (M-TSP.

  15. Research progress of automatic navigation technology for orchard mobile robot%移动机器人自动导航技术研究进展

    Institute of Scientific and Technical Information of China (English)

    蒋浩然; 陈军; 王虎; 雷王利; 袁池

    2011-01-01

    针对目前果园移动机器人自动导航技术研究现状,综合分析现有的有关文献,依据环境感知方式的不同,分别讨论了以激光、视觉、机械、电磁、GPS、超声波为感知系统的导航方法的研究进展,分析了现有几种导航方法在精度、实时性、抗干扰能力及系统适应性等方面的优缺点,认为多传感器融合技术可为果园移动机器人的导航提供更高的精度和稳定性。在此基础上,提出了未来果园移动机器人自动导航技术的发展趋势,即多传感器融合技术是果园移动机器人感知环境的主要手段,满足果园移动机器人精度和稳定性要求的导航系统将是今后研究的重点。%The existing related literatures were analyzed based on the current research progress of the orchard mobile robot's automatic navigation technology.According to the different environmental perception methods,the current research status of the navigation methods with perception systems based on laser,vision,machinery,electromagnetism,ultrasonic and GPS were discussed respectively;the advantages and disadvantages of each method in terms of navigation accuracy,real time,anti-jamming capability and the flexibility of the system were also discussed.Then we believe that the multi-sensor fusion technology could provide higher precision and stability for the orchard mobile robots' automatic navigation.On that basis,this paper proposed the development tendency of automatic navigation technology for orchard mobile robot in the future,multi-sensor fusion technology would become the main method of the environment perception for orchard mobile robot.Therefore,the development of the navigation system with required accuracy and stability for the orchard mobile robot would be the emphasis of the future research.

  16. Mobile Robotics Activities in DOE Laboratories

    Energy Technology Data Exchange (ETDEWEB)

    Ron Lujan; Jerry Harbour; John T. Feddema; Sharon Bailey; Jacob Barhen; David Reister

    2005-03-01

    This paper will briefly outline major activities in Department of Energy (DOE) Laboratories focused on mobile platforms, both Unmanned Ground Vehicles (UGV’s) as well as Unmanned Air Vehicles (UAV’s). The activities will be discussed in the context of the science and technology construct used by the DOE Technology Roadmap for Robotics and Intelligent Machines (RIM)1 published in 1998; namely, Perception, Reasoning, Action, and Integration. The activities to be discussed span from research and development to deployment in field operations. The activities support customers in other agencies. The discussion of "perception" will include hyperspectral sensors, complex patterns discrimination, multisensor fusion and advances in LADAR technologies, including real-world perception. "Reasoning" activities to be covered include cooperative controls, distributed systems, ad-hoc networks, platform-centric intelligence, and adaptable communications. The paper will discuss "action" activities such as advanced mobility and various air and ground platforms. In the RIM construct, "integration" includes the Human-Machine Integration. Accordingly the paper will discuss adjustable autonomy and the collaboration of operator(s) with distributed UGV’s and UAV’s. Integration also refers to the applications of these technologies into systems to perform operations such as perimeter surveillance, large-area monitoring and reconnaissance. Unique facilities and test beds for advanced mobile systems will be described. Given that this paper is an overview, rather than delve into specific detail in these activities, other more exhaustive references and sources will be cited extensively.

  17. Design Of An Omnidirectional Mobile Robot For Rough Terrain

    Science.gov (United States)

    2007-09-01

    rough terrain, isotropy, mobile robots , design I. INTRODUCTION Mobile robots are finding increasing use in military [1], disaster recovery [2], and...exploration applications [3]. These applications frequently require operation in rough, unstructured terrain. Currently, most mobile robots designed...perform some maneuvers, such as lateral displacement. Omnidirectional mobile robots could potentially navigate faster and more robustly through

  18. An energy efficient platform for mobile robot

    Science.gov (United States)

    Patel, Sonali; Tiwari, Ritu; Shukla, Anupam

    2012-11-01

    Exploration of an unknown environment by autonomous mobile robot is a fundamental concern in mobile robotics. Today most of the mobile robots are powered by batteries so their energy and operation times are limited. Therefore, how to minimize energy consumption and obstacle avoidance becomes an important problem. Frontier-based method is known to be most efficient for robot exploration system. In this paper, we propose a novel energy efficient platform based on the notion of frontiers for mobile robot. The robot selects the next frontier to visit based on the robot's current direction and relative location of frontier cells. Our frontier selection method can reduce duplicate coverage and thus save energy and reduce the distance also. Distance to frontier are computed using energy efficient A* algorithm. We estimate the energy consumption and choose the most energy-efficient route to move to that frontier considering energy of stop and turnings. We tested the algorithm on various types of environment maps. The experiments were conducted assuming equal velocity for the robot during whole exploration. All paths generated were optimal in terms of energy consumption and turns. The robot was easily able to escape a variety of obstacles and reach the goal in an optimal manner.

  19. The Mobile Robot HILARE: Dynamic Modeling and Motion Simulation

    OpenAIRE

    M. Ghazal; A. Talezadeh; Taheri, M.; M. Nazemi-Zade

    2014-01-01

    To perform mission in variant environment, several types of mobile robot has been developed an implemented. The mobile robot HILARE is a known wheeled mobile robot which has two fixed wheels and an off-entered orientable wheel. Due to extended application of this robot, its dynamic analysis has attracted a great deal of interests. This article investigates dynamic modeling and motion analysis of the mobile robot HILARE. As the wheels of the robot have kinematic constraints, the constraints of...

  20. Simultaneous scheduling of machines and mobile robots

    DEFF Research Database (Denmark)

    Dang, Vinh Quang; Nielsen, Izabela Ewa

    2013-01-01

    This paper deals with the problem of simultaneously scheduling machines and a number of autonomous mobile robots in a flexible manufacturing system (FMS). Besides capability of transporting materials between machines, the considered mobile robots are different from other material handling devices...... in terms of their advanced ability to perform tasks at machines by using their manipulation arms. The mobile robots thus have to be scheduled in relation to scheduling of machines so as to increase the efficiency of the overall system. The performance criterion is to minimize time required to complete all...

  1. Study on the Mobility of Service Robots

    Directory of Open Access Journals (Sweden)

    Hwan-Joo Kwak

    2012-04-01

    Full Text Available The major characteristics of robots can be divided into several categories ranging from mobility to autonomy. The mobility of service robots is essential and fundamental to commercial and scientific progress. The rapid development of practical service robots depends on our decision which are the most efficient and affordable kinds of locomotion. The selection of the best locomotion, however, is not simple and easy, since the boundaries of robot working areas cannot always be defined clearly. This study emphasizes the usefulness of humanoid type service robots as general service robots, and concentrates on finding the most appropriate means of locomotion for a particular workspace. Several forms of robot locomotion were considered in three types of workspaces, and compared analytically. The results showed that three/four-wheeled robots were best suited to work in a large office or factory. Bipedal robots were suited to work in a small office or home, and quadruped robots were suited to work in outdoors. As a general alternative, bipedal locomotion seems to be the most adaptable form of locomotion for general service robots.

  2. Design of Kalman filters for mobile robots

    DEFF Research Database (Denmark)

    Larsen, Thomas Dall; Hansen, Karsten L.; Andersen, Nils Axel

    1999-01-01

    Kalman filters have for a long time been widely used on mobile robots as a location estimator. Many different Kalman filter designs have been proposed, using models of various complexity. In this paper, two different design methods are evaluated and compared. Focus is put on the common setup where...... the mobile robot is equipped with a dual encoder system supported by some additional absolute measurements. A common filter type for this setup is the odometric filter, where readings from the odometry system on the robot are used together with the geometry of the robot movement as a model of the robot....... If additional kinematic assumptions are made, for instance regarding the velocity of the robot, an augmented model can be used instead. This kinematic filter has some advantages when used intelligently, and it is shown how this type of filter can be used to suppress noise on encoder readings and velocity...

  3. Robot motion control in mobile environment

    Institute of Scientific and Technical Information of China (English)

    Iliya V Miroshnik; HUANG Xian-lin(黄显林); HE Jie(贺杰)

    2003-01-01

    With the problem of robot motion control in dynamic environment represented by mobile obstacles,working pieces and external mechanisms considered, a relevant control actions design procedure has been pro-posed to provide coordination of robot motions with respect to the moving external objects so that an extension ofrobot spatial motion techniques and active robotic strategies based on approaches of nonlinear control theory canbe achieved.

  4. Automatic learning by an autonomous mobile robot

    Energy Technology Data Exchange (ETDEWEB)

    de Saussure, G.; Spelt, P.F.; Killough, S.M.; Pin, F.G.; Weisbin, C.R.

    1989-01-01

    This paper describes recent research in automatic learning by the autonomous mobile robot HERMIES-IIB at the Center for Engineering Systems Advanced Research (CESAR). By acting on the environment and observing the consequences during a set of training examples, the robot learns a sequence of successful manipulations on a simulated control panel. The robot learns to classify panel configurations in order to deal with new configurations that are not part of the original training set. 5 refs., 2 figs.

  5. Robotic technology in cardiovascular medicine.

    Science.gov (United States)

    Bonatti, Johannes; Vetrovec, George; Riga, Celia; Wazni, Oussama; Stadler, Petr

    2014-05-01

    Robotic technology has been used in cardiovascular medicine since the late 1990s. Interventional cardiology, electrophysiology, endovascular surgery, minimally invasive cardiac surgery, and laparoscopic vascular surgery are all fields of application. Robotic devices enable endoscopic reconstructive surgery in narrow spaces and fast, very precise placement of catheters and devices in catheter-based interventions. In all robotic systems, the operator manipulates the robotic arms from a control station or console. In the field of cardiac surgery, mitral valve repair, CABG surgery, atrial septal defect repair, and myxoma resection can be achieved using robotic technology. Furthermore, vascular surgeons can perform a variety of robotically assisted operations to treat aortic, visceral, and peripheral artery disease. In electrophysiology, ablation procedures for atrial fibrillation can be carried out with robotic support. In the past few years, robotically assisted percutaneous coronary intervention and abdominal aortic endovascular surgery techniques have been developed. The basic feasibility and safety of robotic approaches in cardiovascular medicine has been demonstrated, but learning curves and the high costs associated with this technology have limited its widespread use. Nonetheless, increased procedural speed, accuracy, and reduced exposure to radiation and contrast agent in robotically assisted catheter-based interventions, as well as reduced surgical trauma and shortened patient recovery times after robotic cardiovascular surgery are promising achievements in the field.

  6. Legal Issues for Mobile Servant Robots

    NARCIS (Netherlands)

    Fosch Villaronga, Eduard; Virk, Gurvinder S.; Rodic, Aleksandar; Borangiu, Theodor

    2017-01-01

    This paper identifies key legal issues which are emerging for Mobile Servant Robots (MSRs), a sub-type of Personal Care Robots (PCR) defined in ISO 13482. New cases are likely to be introduced in the market soon even though appropriate and specific binding legal regulations regarding MSRs are missin

  7. Computer vision for an autonomous mobile robot

    CSIR Research Space (South Africa)

    Withey, Daniel J

    2015-10-01

    Full Text Available for extracting information from the raw sensor data. In Withey’s talk, methods suitable for computer vision in autonomous, mobile robots will be described and results from the application of these vision techniques are provided, specifically in a robot system...

  8. Intelligent Mobile Olfaction of Swarm Robots

    National Research Council Canada - National Science Library

    Siti Nurmaini; Bambang Tutuko; Aulia Rahman Thoharsin

    2013-01-01

      This work presents intelligent mobile olfaction design and experimental results of intelligent swarm robots to detection a gas/odour source in an indoor environment by using multi agent based on hybrid algorithm...

  9. A Review of Mobile Robotic Telepresence

    OpenAIRE

    Annica Kristoffersson; Silvia Coradeschi; Amy Loutfi

    2013-01-01

    Mobile robotic telepresence (MRP) systems incorporate video conferencing equipment onto mobile robot devices which can be steered from remote locations. These systems, which are primarily used in the context of promoting social interaction between people, are becoming increasingly popular within certain application domains such as health care environments, independent living for the elderly, and office environments. In this paper, an overview of the various systems, application areas, and cha...

  10. MOBILE AGENT: EMERGING TECHNOLOGY

    OpenAIRE

    RAJGURU P. V. DR. DESHMUKH S. D

    2011-01-01

    Mobile agent technology has been promoted as an emerging technology that makes it much easier to design, implement, and maintain distributed systems, introduction to basic concepts of mobile agents like agent mobility, agent types and places and agent communication. Then benefits of the usage of mobile agents are summarized and illustrated by selected applications. The next section lists requirements and desirable properties for mobile agent languages and systems. We study the main features, ...

  11. Sliding mode control for mobile welding robot

    Institute of Scientific and Technical Information of China (English)

    Lü Xueqin; Zhang Ke; Wu Yixiong

    2006-01-01

    The sliding mode controller of mobile welding robot is established in this paper through applying the method of variable structure control with sliding mode into the control of the mobile welding robot.The traditional switching function smooth method is improved by combining the smoothed switching function with the time-varying control gain.It is shown that the proposed sliding mode controller is robust to bounded external disturbances.Experimental results demonstrate that sliding mode controller algorithm can be used into seam tracking and the tracking system is stable with bounded uncertain disturbance.In the seam tracking process, the robot moves steadily without any obvious chattering.

  12. Distributed computing by oblivious mobile robots

    CERN Document Server

    Flocchini, Paola; Santoro, Nicola

    2012-01-01

    The study of what can be computed by a team of autonomous mobile robots, originally started in robotics and AI, has become increasingly popular in theoretical computer science (especially in distributed computing), where it is now an integral part of the investigations on computability by mobile entities. The robots are identical computational entities located and able to move in a spatial universe; they operate without explicit communication and are usually unable to remember the past; they are extremely simple, with limited resources, and individually quite weak. However, collectively the ro

  13. Sensor Fusion for Autonomous Mobile Robot Navigation

    DEFF Research Database (Denmark)

    Plascencia, Alfredo

    Multi-sensor data fusion is a broad area of constant research which is applied to a wide variety of fields such as the field of mobile robots. Mobile robots are complex systems where the design and implementation of sensor fusion is a complex task. But research applications are explored constantly....... The scope of the thesis is limited to building a map for a laboratory robot by fusing range readings from a sonar array with landmarks extracted from stereo vision images using the (Scale Invariant Feature Transform) SIFT algorithm....

  14. Extensible Hardware Architecture for Mobile Robots

    Science.gov (United States)

    Park, Eric; Kobayashi, Linda; Lee, Susan Y.

    2005-01-01

    The Intelligent Robotics Group at NASA Ames Research Center has developed a new mobile robot hardware architecture designed for extensibility and reconfigurability. Currently implemented on the k9 rover. and won to be integrated onto the K10 series of human-robot collaboration research robots, this architecture allows for rapid changes in instrumentation configuration and provides a high degree of modularity through a synergistic mix of off-the-shelf and custom designed components, allowing eased transplantation into a wide vane6 of mobile robot platforms. A component level overview of this architecture is presented along with a description of the changes required for implementation on K10 , followed by plans for future work.

  15. Mobile Router Technology Development

    Science.gov (United States)

    Ivancic, William D.; Stewart, David H.; Bell, Terry L.; Kachmar, Brian A.; Shell, Dan; Leung, Kent

    2002-01-01

    Cisco Systems and NASA have been performing joint research on mobile routing technology under a NASA Space Act Agreement. Cisco developed mobile router technology and provided that technology to NASA for applications to aeronautic and space-based missions. NASA has performed stringent performance testing of the mobile router, including the interaction of routing and transport-level protocols. This paper describes mobile routing, the mobile router, and some key configuration parameters. In addition, the paper describes the mobile routing test network and test results documenting the performance of transport protocols in dynamic routing environments.

  16. Defining proprioceptive behaviors for autonomous mobile robots

    Science.gov (United States)

    Overholt, James L.; Hudas, Greg R.; Gerhart, Grant R.

    2002-07-01

    Proprioception is a sense of body position and movement that supports the control of many automatic motor functions such as posture and locomotion. This concept, normally relegated to the fields of neural physiology and kinesiology, is being utilized in the field of unmanned mobile robotics. This paper looks at developing proprioceptive behaviors for use in controlling an unmanned ground vehicle. First, we will discuss the field of behavioral control of mobile robots. Next, a discussion of proprioception and the development of proprioceptive sensors will be presented. We will then focus on the development of a unique neural-fuzzy architecture that will be used to incorporate the control behaviors coming directly from the proprioceptive sensors. Finally we will present a simulation experiment where a simple multi-sensor robot, utilizing both external and proprioceptive sensors, is presented with the task of navigating an unknown terrain to a known target position. Results of the mobile robot utilizing this unique fusion methodology will be discussed.

  17. Remote technology review: mobile robots continue to march (and crawl, roll, walk, slither, climb and swim) into action. [In the nuclear industry

    Energy Technology Data Exchange (ETDEWEB)

    Meieran, H. (PHD Technologies Inc., Pittsburgh, PA (USA))

    1991-02-01

    Mobile robots are performing an increasing range of tasks in nuclear power plants and other nuclear facilities as well as in a wide spectrum of other hazardous industries and environments. The total number of such systems, many of which can be used in the nuclear industry, that have been, are being or will be built, now exceeds 350 separate units manufactured by more than 168 suppliers in 19 countries. In addition to being used in nuclear power plants themselves, they are being, or can be, employed in a variety of other nuclear applications, including hot cells, fuel reprocessing facilities, research establishments, waste sites, uranium mines, and decommissioning projects. The survey results reported here provide current statistics regarding terrestrial based mobile robots and remote teleoperator controlled vehicles (referred to collectively as mobile robots), underwater crawling and swimming robots (the latter known as remotely operated vehicles (ROVs)) and pipecrawlers. (author).

  18. Autonomous Mobile Robot That Can Read

    Directory of Open Access Journals (Sweden)

    Létourneau Dominic

    2004-01-01

    Full Text Available The ability to read would surely contribute to increased autonomy of mobile robots operating in the real world. The process seems fairly simple: the robot must be capable of acquiring an image of a message to read, extract the characters, and recognize them as symbols, characters, and words. Using an optical Character Recognition algorithm on a mobile robot however brings additional challenges: the robot has to control its position in the world and its pan-tilt-zoom camera to find textual messages to read, potentially having to compensate for its viewpoint of the message, and use the limited onboard processing capabilities to decode the message. The robot also has to deal with variations in lighting conditions. In this paper, we present our approach demonstrating that it is feasible for an autonomous mobile robot to read messages of specific colors and font in real-world conditions. We outline the constraints under which the approach works and present results obtained using a Pioneer 2 robot equipped with a Pentium 233 MHz and a Sony EVI-D30 pan-tilt-zoom camera.

  19. Autonomous Mobile Robot That Can Read

    Science.gov (United States)

    Létourneau, Dominic; Michaud, François; Valin, Jean-Marc

    2004-12-01

    The ability to read would surely contribute to increased autonomy of mobile robots operating in the real world. The process seems fairly simple: the robot must be capable of acquiring an image of a message to read, extract the characters, and recognize them as symbols, characters, and words. Using an optical Character Recognition algorithm on a mobile robot however brings additional challenges: the robot has to control its position in the world and its pan-tilt-zoom camera to find textual messages to read, potentially having to compensate for its viewpoint of the message, and use the limited onboard processing capabilities to decode the message. The robot also has to deal with variations in lighting conditions. In this paper, we present our approach demonstrating that it is feasible for an autonomous mobile robot to read messages of specific colors and font in real-world conditions. We outline the constraints under which the approach works and present results obtained using a Pioneer 2 robot equipped with a Pentium 233 MHz and a Sony EVI-D30 pan-tilt-zoom camera.

  20. The research of mobile robot's infrared remote control and autonomous obstacle avoidance technology%移动机器人红外遥控及自主避障技术研究

    Institute of Scientific and Technical Information of China (English)

    孙俊焘

    2014-01-01

    The infrared remote control and autonomous obstacle avoidance technology of the mobile robot platform was researched. The technic of the infrared sending and incepting which was controlled by microcontroller was used to control the mobile robot remotely.Microcontroller was used as the examination and the control core of the remote controlled mobile robot platform. We will research Mobile robot's autonomous obstacle avoidance use of infrared sensing technology. The experiments show that robot infrared remote control platform to achieve control of the microcontroller features and remote control functions.%本文针对移动机器人平台特别是机械手的红外。控以及自主避障技术进行了初步研究。采用单片机的红外线编码和解码技术来实现该移动机器人平台的。控。使用单片机作为。控机器人的平台的检测和控制核心,并且基于红外传感技术研究其实现自主避障的可行方法。实验证明,移动机器人的红外。控平台能够实现单片机控制的多种功能和。控功能。

  1. Tandem robot control system and method for controlling mobile robots in tandem

    Energy Technology Data Exchange (ETDEWEB)

    Hayward, David R. (Albuquerque, NM); Buttz, James H. (Albuquerque, NM); Shirey, David L. (Albuquerque, NM)

    2002-01-01

    A control system for controlling mobile robots provides a way to control mobile robots, connected in tandem with coupling devices, to navigate across difficult terrain or in closed spaces. The mobile robots can be controlled cooperatively as a coupled system in linked mode or controlled individually as separate robots.

  2. LTE mobile network technology

    OpenAIRE

    Sladič, Klemen

    2012-01-01

    The main purpose of this thesis is an introduction to long term evolution of fourth generation mobile networks based on LTE mobile network standard. Fourth generation mobile networks are currently one of the most developed technology in the world of mobile communications and are somewhere already available for commercial use. At the beginning is a short history of mobile networks evolution, for easier understanding. In the history you can find information from first researches of magnetic...

  3. Enhanced Image Analysis Using Cached Mobile Robots

    Directory of Open Access Journals (Sweden)

    Kabeer Mohammed

    2012-11-01

    Full Text Available In the field of Artificial intelligence Image processing plays a vital role in Decision making .Now a day’s Mobile robots work as a Network sharing Centralized Data base.All Image inputs are compared against this database and decision is made.In some cases the Centralized database is in other side of the globe and Mobile robots compare Input image through satellite link this sometime results in delays in decision making which may result in castrophe.This Research paper is about how to make image processing in mobile robots less time consuming and fast decision making.This research paper compares search techniques employed currently and optimum search method which we are going to state.Now a days Mobile robots are extensively used in environments which are dangerous to human beings.In this dangerous situations quick Decision making makes the difference between Hit and Miss this can also results in Day to day tasks performed by Mobile robots Successful or Failure.

  4. Omnivision-based autonomous mobile robotic platform

    Science.gov (United States)

    Cao, Zuoliang; Hu, Jun; Cao, Jin; Hall, Ernest L.

    2001-10-01

    As a laboratory demonstration platform, TUT-I mobile robot provides various experimentation modules to demonstrate the robotics technologies that are involved in remote control, computer programming, teach-and-playback operations. Typically, the teach-and-playback operation has been proved to be an effective solution especially in structured environments. The path generated in the teach mode and path correction in real-time using path error detecting in the playback mode are demonstrated. The vision-based image database is generated as the given path representation in the teaching procedure. The algorithm of an online image positioning is performed for path following. Advanced sensory capability is employed to provide environment perception. A unique omni directional vision (omni-vision) system is used for localization and navigation. The omni directional vision involves an extremely wide-angle lens, which has the feature that a dynamic omni-vision image is processed in real time to respond the widest view during the movement. The beacon guidance is realized by observing locations of points derived from over-head features such as predefined light arrays in a building. The navigation approach is based upon the omni-vision characteristics. A group of ultrasonic sensors is employed for obstacle avoidance.

  5. A framework for robust mobile robot systems

    Science.gov (United States)

    Melchior, Nik A.; Smart, William D.

    2004-12-01

    Fielded mobile robot systems will inevitably suffer hardware and software failures. Failures in a single subsystem can often disable the entire robot, especially if the controlling application does not consider such failures. Often simple measures, such as a software restart or the use of a secondary sensor, can solve the problem. However, these fixes must generally be applied by a human expert, who might not be present in the field. In this paper, we describe a recovery-oriented framework for mobile robot applications which addresses this problem in two ways. First, fault isolation automatically provides graceful degradation of the overall system as individual software and hardware components fail. In addition, subsystems are monitored for known failure modes or aberrant behavior. The framework responds to detected or immanent failures by restarting or replacing the suspect component in a manner transparent to the application programmer and the robot's operator.

  6. Mobile Robot Collision Avoidance in Human Environments

    OpenAIRE

    Lingqi Zeng; Gary M. Bone

    2013-01-01

    Collision avoidance is a fundamental requirement for mobile robots. Avoiding moving obstacles (also termed dynamic obstacles) with unpredictable direction changes, such as humans, is more challenging than avoiding moving obstacles whose motion can be predicted. Precise information on the future moving directions of humans is unobtainable for use in navigation algorithms. Furthermore, humans should be able to pursue their activities unhindered and without worrying about the robots around them....

  7. Stabilized Feedback Control of Unicycle Mobile Robots

    Directory of Open Access Journals (Sweden)

    Khoukhi Amar

    2013-04-01

    Full Text Available In this paper, a stabilized feedback control is designed for a class of unicycle non‐holonomic mobile robots. The approach is based on kinematic polar coordinate transformations. The suggested control scheme allows the robot to achieve stabilized near‐ optimal trajectories, while satisfying the hard constraints of specified initial and final postures (positions and orientations. Simulation experiments showing the effectiveness of the proposed technique are provided and discussed.

  8. [Equipment and technology in robotics].

    Science.gov (United States)

    Murphy, Declan; Challacombe, Ben; Nedas, Tim; Elhage, Oussama; Althoefer, Kaspar; Seneviratne, Lakmal; Dasgupta, Prokar

    2007-05-01

    We review the evolution and current status of robotic equipment and technology in urology. We also describe future developments in the key areas of virtual reality simulation, mechatronics and nanorobotics. The history of robotic technology is reviewed and put into the context of current systems. Experts in the associated fields of nanorobotics, mechatronics and virtual reality simulation simulation review the important future developments in these areas.

  9. Mobile robots: motor challenges and materials solutions.

    Science.gov (United States)

    Madden, John D

    2007-11-16

    Bolted-down robots labor in our factories, performing the same task over and over again. Where are the robots that run and jump? Equaling human performance is very difficult for many reasons, including the basic challenge of demonstrating motors and transmissions that efficiently match the power per unit mass of muscle. In order to exceed animal agility, new actuators are needed. Materials that change dimension in response to applied voltage, so-called artificial muscle technologies, outperform muscle in most respects and so provide a promising means of improving robots. In the longer term, robots powered by atomically perfect fibers will outrun us all.

  10. Mobile Robot Visual Navigation Using Multiple Features

    Directory of Open Access Journals (Sweden)

    Zezhi Chen

    2005-08-01

    Full Text Available We propose a method to segment the ground plane from a mobile robot's visual field of view and then measure the height of nonground plane features above the mobile robot's ground plane. Thus a mobile robot can determine what it can drive over, what it can drive under, and what it needs to manoeuvre around. In addition to obstacle avoidance, this data could also be used for localisation and map building. All of this is possible from an uncalibrated camera (raw pixel coordinates only, but is restricted to (near pure translation motion of the camera. The main contributions are (i a novel reciprocal-polar (RP image rectification, (ii ground plane segmentation by sinusoidal model fitting in RP-space, (iii a novel projective construction for measuring affine height, and (iv an algorithm that can make use of a variety of visual features and therefore operate in a wide variety of visual environments.

  11. Mobile Robot Visual Navigation Using Multiple Features

    Science.gov (United States)

    Pears, Nick; Liang, Bojian; Chen, Zezhi

    2005-12-01

    We propose a method to segment the ground plane from a mobile robot's visual field of view and then measure the height of nonground plane features above the mobile robot's ground plane. Thus a mobile robot can determine what it can drive over, what it can drive under, and what it needs to manoeuvre around. In addition to obstacle avoidance, this data could also be used for localisation and map building. All of this is possible from an uncalibrated camera (raw pixel coordinates only), but is restricted to (near) pure translation motion of the camera. The main contributions are (i) a novel reciprocal-polar (RP) image rectification, (ii) ground plane segmentation by sinusoidal model fitting in RP-space, (iii) a novel projective construction for measuring affine height, and (iv) an algorithm that can make use of a variety of visual features and therefore operate in a wide variety of visual environments.

  12. Simultaneous scheduling of machines and mobile robots

    DEFF Research Database (Denmark)

    Dang, Vinh Quang; Nielsen, Izabela Ewa

    2013-01-01

    This paper deals with the problem of simultaneously scheduling machines and a number of autonomous mobile robots in a flexible manufacturing system (FMS). Besides capability of transporting materials between machines, the considered mobile robots are different from other material handling devices...... in terms of their advanced ability to perform tasks at machines by using their manipulation arms. The mobile robots thus have to be scheduled in relation to scheduling of machines so as to increase the efficiency of the overall system. The performance criterion is to minimize time required to complete all...... tasks or makespan. A heuristic based on genetic algorithm is developed to find the best solution for the problem. A numerical example is investigated to demonstrate results of the proposed approach. The implementation of the proposed approach in a multi-agent system is also generally described....

  13. Simulation of Intelligent Single Wheel Mobile Robot

    Directory of Open Access Journals (Sweden)

    Maki K. Rashid

    2008-11-01

    Full Text Available Stabilization of a single wheel mobile robot attracted researcher attentions in robotic area. However, the budget requirements for building experimental setups capable in investigating isolated parameters and implementing others encouraged the development of new simulation methods and techniques that beat such limitations. In this work we have developed a simulation platform for testing different control tactics to stabilize a single wheel mobile robot. The graphic representation of the robot, the dynamic solution, and, the control scheme are all integrated on common computer platform using Visual Basic. Simulation indicates that we can control such robot without knowing the detail of it's internal structure or dynamics behaviour just by looking at it and using manual operation tactics. Twenty five rules are extracted and implemented using Takagi-Sugeno's fuzzy controller with significant achievement in controlling robot motion during the dynamic simulation. The resulted data from the successful implementation of the fuzzy model are used to utilize and train a neurofuzzy controller using ANFIS scheme to produce further improvement in robot performance

  14. Intelligent modular manipulation for mobile robots

    Science.gov (United States)

    Culbertson, John

    2008-04-01

    As mobile robots continue to gain acceptance across a variety of applications within the defense and civilian markets, the number of tasks that these robot platforms are expected to accomplish are expanding. Robot operators are asked to do more with the same platforms - from EOD missions to reconnaissance and inspection operations. Due to the fact that a majority of missions are dangerous in nature, it is critical that users are able to make remote adjustments to the systems to ensure that they are kept out of harm's way. An efficient way to expand the capabilities of existing robot platforms, improve the efficiency of robot missions, and to ultimately improve the operator's safety is to integrate JAUS-enabled Intelligent Modular Manipulation payloads. Intelligent Modular Manipulation payloads include both simple and dexterous manipulator arms with plug-and-play end-effector tools that can be changed based on the specific mission. End-effectors that can be swapped down-range provide an added benefit of decreased time-on-target. The intelligence in these systems comes from semi-autonomous mobile manipulation actions that enable the robot operator to perform manipulation task with the touch of a button on the OCU. RE2 is supporting Unmanned Systems Interoperability by utilizing the JAUS standard as the messaging protocol for all of its manipulation systems. Therefore, they can be easily adapted and integrated onto existing JAUS-enabled robot platforms.

  15. Self-awareness in mobile robots

    Science.gov (United States)

    Lim, Willie Y.

    1992-02-01

    Self-awareness is the ability for a mobile robot to, on its own, detect and deal with operational abnormalities. Such an ability is needed for the robot to operate robustly in an unpredictable environment. For the robot to be self-aware it must be capable of sensing its own internal state (such as detecting hardware failures or a drop in battery charge level), reacting quickly to such internal inputs, and infer the implications of the resulting actions. At the lowest level, the ability to detect hardware failures enables a reactive robot to substitute functionally equivalent behaviors for those that no longer work because of the failures. If the failures are serious, the robot should be able to abort the current and initiate a new task/mission to correct the problem. At the highest level, self-awareness would give the robot a sense of its `well-being,' limitations, capabilities, and needs. This paper describes how the self-awareness ability is being implemented on a mobile robot, called SmartyCat, that uses high level reasoning to coordinate and specialize its low level reactive behaviors to the mission goal. The multilevel mechanisms, ranging from behavior substitution to mission replanning, needed for self- awareness are discussed.

  16. Biologically-Plausible Reactive Control of Mobile Robots

    OpenAIRE

    Rene, Zapata; Pascal, Lepinay

    2006-01-01

    This chapter addressed the problem of controlling the reactive behaviours of a mobile robot evolving in unstructured and dynamic environments. We have carried out successful experiments for determining the distance field of a mobile robot using two

  17. Path Planning Control for Mobile Robot

    Directory of Open Access Journals (Sweden)

    Amenah A.H. Salih

    2011-01-01

    Full Text Available Autonomous motion planning is important area of robotics research. This type of planning relieves human operator from tedious job of motion planning. This reduces the possibility of human error and increase efficiency of whole process. This research presents a new algorithm to plan path for autonomous mobile robot based on image processing techniques by using wireless camera that provides the desired image for the unknown environment . The proposed algorithm is applied on this image to obtain a optimal path for the robot. It is based on the observation and analysis of the obstacles that lying in the straight path between the start and the goal point by detecting these obstacles, analyzing and studying their shapes, positions and points of intersection with the straight path to find the nearly optimal path which connects the start and the goal point.This work has theoretical part and experimental part. The theoretical part includes building a MATLAB program which is applied to environment image to find the nearly optimal path .MATLAB - C++.NET interface is accomplished then to supply the path information for C++.NET program which is done for programming the pioneer mobile robot to achieve the desired path. The experimental part includes using wireless camera that takes an image for the environment and send it to the computer which processes this image and sends ( by wireless connection the resulted path information to robot which programmed in C++.NET program to walk according to this path.So, the overall system can be represented by:Wireless camera – computer – wireless connection for the mobile robot .The experimental work including some experiments shows that the developed mobile robot (pioneer p3-dx travels successfully from the start point and reach the goal point across the optimal path (according to time and power which is obtained as result of the proposed path planning algorithm introduced in this paper.

  18. Agent-based Multimodal Interface for Dynamically Autonomous Mobile Robots

    Science.gov (United States)

    2003-01-01

    Agent-based Multimodal Interface for Dynamically Autonomous Mobile Robots Donald Sofge, Magdalena Bugajska, William Adams, Dennis...computing paradigm for integrated distributed artificial intelligence systems on autonomous mobile robots (Figure 1). Figure 1 – CoABS Grid...Architecture for Dynamically Autonomous Mobile Robots The remainder of the paper is organized as follows. Section 2 describes our integrated AI

  19. Random issues in workspace analysis for a mobile robot

    Science.gov (United States)

    Stǎnescu, Tony; Dolga, Valer; Mondoc, Alina

    2014-12-01

    Evolution of the mobile robot is currently characterized by multiple applications in dynamic workspaces and low initial knowledge. In this paper presents aspects of approaching random processes of evolution of a mobile robot in an unstructured environment . The experimental results are used for modeling an infrared sensor (integrated in the mobile robot structure) and to assess the probability of locating obstacles in the environment.

  20. Planetary exploration by a mobile robot: mission teleprogramming and autonomous navigation.

    Science.gov (United States)

    Chatila, R.; Lacroix, S.; Simeon, T.; Herrb, M.

    Sending mobile robots to accomplish planetary exploration missions is scientifically promising and technologically challenging. The authors present a complete approach that encompasses the major aspects involved in the design of a robotic system for planetary exploration. It includes mission teleprogramming and supervision at a ground station, and autonomous mission execution by the remote mobile robot. They have partially implemented and validated these concepts. Experimental results illustrate the approach and the results.

  1. Tactical mobile robots for urban search and rescue

    Science.gov (United States)

    Blitch, John; Sidki, Nahid; Durkin, Tim

    2000-07-01

    Few disasters can inspire more compassion for victims and families than those involving structural collapse. Video clips of children's bodies pulled from earthquake stricken cities and bombing sties tend to invoke tremendous grief and sorrow because of the totally unpredictable nature of the crisis and lack of even the slightest degree of negligence (such as with those who choose to ignore storm warnings). Heartbreaking stories of people buried alive for days provide a visceral and horrific perspective of some of greatest fears ever to be imagined by human beings. Current trends toward urban sprawl and increasing human discord dictates that structural collapse disasters will continue to present themselves at an alarming rate. The proliferation of domestic terrorism, HAZMAT and biological contaminants further complicates the matter further and presents a daunting problem set for Urban Search and Rescue (USAR) organizations around the world. This paper amplifies the case for robot assisted search and rescue that was first presented during the KNOBSAR project initiated at the Colorado School of Mines in 1995. It anticipates increasing technical development in mobile robot technologies and promotes their use for a wide variety of humanitarian assistance missions. Focus is placed on development of advanced robotic systems that are employed in a complementary tool-like fashion as opposed to traditional robotic approaches that portend to replace humans in hazardous tasks. Operational challenges for USAR are presented first, followed by a brief history of mobiles robot development. The paper then presents conformal robotics as a new design paradigm with emphasis on variable geometry and volumes. A section on robot perception follows with an initial attempt to characterize sensing in a volumetric manner. Collaborative rescue is then briefly discussed with an emphasis on marsupial operations and linked mobility. The paper concludes with an emphasis on Human Robot Interface

  2. Intelligent mobility research for robotic locomotion in complex terrain

    Science.gov (United States)

    Trentini, Michael; Beckman, Blake; Digney, Bruce; Vincent, Isabelle; Ricard, Benoit

    2006-05-01

    The objective of the Autonomous Intelligent Systems Section of Defence R&D Canada - Suffield is best described by its mission statement, which is "to augment soldiers and combat systems by developing and demonstrating practical, cost effective, autonomous intelligent systems capable of completing military missions in complex operating environments." The mobility requirement for ground-based mobile systems operating in urban settings must increase significantly if robotic technology is to augment human efforts in these roles and environments. The intelligence required for autonomous systems to operate in complex environments demands advances in many fields of robotics. This has resulted in large bodies of research in areas of perception, world representation, and navigation, but the problem of locomotion in complex terrain has largely been ignored. In order to achieve its objective, the Autonomous Intelligent Systems Section is pursuing research that explores the use of intelligent mobility algorithms designed to improve robot mobility. Intelligent mobility uses sensing, control, and learning algorithms to extract measured variables from the world, control vehicle dynamics, and learn by experience. These algorithms seek to exploit available world representations of the environment and the inherent dexterity of the robot to allow the vehicle to interact with its surroundings and produce locomotion in complex terrain. The primary focus of the paper is to present the intelligent mobility research within the framework of the research methodology, plan and direction defined at Defence R&D Canada - Suffield. It discusses the progress and future direction of intelligent mobility research and presents the research tools, topics, and plans to address this critical research gap. This research will create effective intelligence to improve the mobility of ground-based mobile systems operating in urban settings to assist the Canadian Forces in their future urban operations.

  3. A motion planner for nonholonomic mobile robots

    Energy Technology Data Exchange (ETDEWEB)

    Laumond, J.P.; Jacobs, P.E.; Taiex, M. (LAA/CNRS, Toulouse (France)); Murray, R.M. (California Inst. of Technology, Pasadena, CA (United States). Dept. of Mechanical Engineering)

    1994-10-01

    This paper considers the problems of motion planning for a car-like robot (i.e., a mobile robot with a nonholonomic constraint whose turning radius is lower-bounded). The authors present a fast and exact planner for their mobile robot model, based upon recursive subdivision of a collision-free path generated by a lower-level geometric planner that ignores the motion constraints. The resultant trajectory is optimized to give a path that is of near-minimal length in its homotopy class. Their claims of high speed are supported by experimental results for implementations that assume a robot moving amid polygonal obstacles. The completeness and the complexity of the algorithm are proven using an appropriate metric in the configuration space R[sup 2] [times] S[sup 1] of the robot. This metric is defined by using the length of the shortest paths in the absence of obstacles as the distance between two configurations. The authors prove that the new induced topology and the classical one are the same. Although the authors concentrate upon the car-like robot, the generalization of these techniques leads to new theoretical issues involving sub-Riemannian geometry and to practical results for nonholonomic motion planning.

  4. An autonomous vision-based mobile robot

    Science.gov (United States)

    Baumgartner, Eric Thomas

    This dissertation describes estimation and control methods for use in the development of an autonomous mobile robot for structured environments. The navigation of the mobile robot is based on precise estimates of the position and orientation of the robot within its environment. The extended Kalman filter algorithm is used to combine information from the robot's drive wheels with periodic observations of small, wall-mounted, visual cues to produce the precise position and orientation estimates. The visual cues are reliably detected by at least one video camera mounted on the mobile robot. Typical position estimates are accurate to within one inch. A path tracking algorithm is also developed to follow desired reference paths which are taught by a human operator. Because of the time-independence of the tracking algorithm, the speed that the vehicle travels along the reference path is specified independent from the tracking algorithm. The estimation and control methods have been applied successfully to two experimental vehicle systems. Finally, an analysis of the linearized closed-loop control system is performed to study the behavior and the stability of the system as a function of various control parameters.

  5. 3D position measurement using square marker for automatic mobile robot control

    Science.gov (United States)

    Sakamoto, Kunio; Ohmori, Koji

    2010-11-01

    A mobile robot is an automatic machine that is capable of movement in a given environment. Many techniques of automatic control are proposed. A line tracer is one of the most popular robots. The line tracer goes along a white line on the floor. The authors developed a mobile robot which moves to indicated point automatically. All you have to do is to indicate a goal point. In this paper, we propose an automatic mobile robot system controlled by an invisible marker and remote indication using the augmented reality technology.

  6. An Interactive Auto-recharging System for Mobile Robots

    Directory of Open Access Journals (Sweden)

    Kuo-Lan Su

    2014-02-01

    Full Text Available The article describes a new auto-charging system designed to enhance successful docking rates for mobile robots while at the same time monitoring the status of the charging current between the mobile robot and the docking station. The communication interface of the mobile robot and the docking station uses a wireless RF interface. The docking station is designed with one active degree of freedom and two passive degrees of freedom. Users tune the location of the charging pins on the docking station to make it possible for the mobile robot to execute an auto-recharging process. The auto-recharging process uses multiple sensors and a laser range finder located on the mobile robot. The laser range finder searches for a landmark to guide the mobile robot towards the docking station. In the experiment, the power of the mobile robot is under its threshold value. The mobile robot transmits a charging command to the docking station via a wireless RF interface. The docking station transmits a location command back to the mobile robot via this wireless RF interface. The mobile robot uses its laser range finder to search for the landmark of the assigned docking station and programs a motion trajectory to move forward to the docking station. The docking station supplies a charging current to the mobile robot by means of a charger. The power detection module simultaneously detects the charging current and the voltage values of the charging process in both the docking station and the mobile robot. The system can monitor the status of the charging process between the docking station and the mobile robot at any time. The power of the mobile robot is enough to be detected by the power detection module. When the charging process is complete, the docking station turns off the charging current and triggers the mobile robot to leave the docking station via the wireless RF interface.

  7. ECG by mobile technologies.

    Science.gov (United States)

    Guzik, Przemyslaw; Malik, Marek

    Mobile electrocardiographs consist of three components: a mobile device (e.g. a smartphone), an electrocardiographic device or accessory, and a mobile application. Mobile platforms are small computers with sufficient computational power, good quality display, suitable data storage, and several possibilities of data transmission. Electrocardiographic electrodes and sensors for mobile use utilize unconventional materials, e.g. rubber, e-textile, and inkjet-printed nanoparticle electrodes. Mobile devices can be handheld, worn as vests or T-shirts, or attached to patient's skin as biopatches. Mobile electrocardiographic devices and accessories may additionally record other signals including respiratory rate, activity level, and geolocation. Large-scale clinical studies that utilize electrocardiography are easier to conduct using mobile technologies and the collected data are suitable for "big data" processing. This is expected to reveal phenomena so far inaccessible by standard electrocardiographic techniques.

  8. Simple adaptive tracking control for mobile robots

    Science.gov (United States)

    Bobtsov, Alexey; Faronov, Maxim; Kolyubin, Sergey; Pyrkin, Anton

    2014-12-01

    The problem of simple adaptive and robust control is studied for the case of parametric and dynamic dimension uncertainties: only the maximum possible relative degree of the plant model is known. The control approach "consecutive compensator" is investigated. To illustrate the efficiency of proposed approach an example with the mobile robot motion control using computer vision system is considered.

  9. Advanced manipulation for autonomous mobile robots

    Energy Technology Data Exchange (ETDEWEB)

    Babcock, S.M.; Hamel, W.R.; Killough, S.M.

    1986-01-01

    This paper describes the development, mechanical configuration, and control system architecture of a lightweight, high performance, seven-degree-of-freedom manipulator at the Center for Engineering Systems Advanced Research (CESAR). Current activities focusing on modeling and parameter identification will provide a well-characterized manipulator for analytical and experimental research in manipulator dynamics and controls, coordinated manipulation, and autonomous mobile robotics.

  10. PRINCIPLE,CONSTRUCTION AND KINEMATIC ANALYSIS FOR THE OMNIDIRECTIONAL MOBILE ROBOT--ICE-SKATER ROBOT

    Institute of Scientific and Technical Information of China (English)

    宋立博; 吕恬生; 费燕琼; 袁池

    2002-01-01

    Three main basic types of locomotion for a mobile robot were introduced and the advantages and disadvantages of a legged mobile robot, a wheeled mobile robot and an articulated mobile robot were also discussed. A new type of leg-wheeled mobile robot was introduced which combines the adaptability of legged robot with the stability of wheeled robot. On the basis of the structure of the wheels, the paper described the principle of the iceskater robot developed from Roller-walker and ALDURO and its construction. The paper also established an inertia coordinate system and a wheel coordinate system, and analyzed the configuration or the posture and the related kinematic constraints of the robot according to some assumptions. Based on the motion principle, a logic-based coordinated control system and corresponded flowchart were designed. At last, taking the ice-skater robot as an example the paper expounded its application and the actual experiment proved its feasibility.

  11. Design of dead reckoning system for mobile robot

    Institute of Scientific and Technical Information of China (English)

    YU Jin-xia; CAI Zi-xing; DUAN Zhuo-hua; ZOU Xiao-bing

    2006-01-01

    A dead reckoning system for a wheeled mobile robot was designed, and the method for robot's pose estimation in the 3D environments was presented on the basis of its rigid-body kinematic equations. After analyzing the locomotion architecture of mobile robot and the principle of proprioceptive sensors, the kinematics model of mobile robot was built to realize the relative localization. Considering that the research on dead reckoning of mobile robot was confined to the 2 dimensional planes, the locomotion of mobile robot in the 3 coordinate axis direction was thought over in order to estimate its pose on uneven terrain. Because the computing method in a plane is rather mature, the calculation in height direction is emphatically represented as a key issue. With experimental results obtained by simulation program and robot platform, the position of mobile robot can be reliably estimated and the localization precision can be effectively improved, so the effectiveness of this dead reckoning system is demonstrated.

  12. Bilateral Teleoperation of Wheeled Mobile Robots Working in Common Workspace

    OpenAIRE

    2014-01-01

    This paper proposes a bilateral control framework for mobile robots which share the same workspace. The robots are teleoperated by independent users. Accordingly, for each teleoperated robot the other robots represent moving obstacles or static obstacles with a-priori unknown positions. For such teleoperation systems a velocity generator algorithm is proposed to obtain the linear and angular velocity commands of the mobile robots. A procedure is also given to calculate the haptic force corres...

  13. Scheduling a Single Mobile Robot Incorporated into Production Environment

    DEFF Research Database (Denmark)

    Dang, Vinh Quang; Nielsen, Izabela Ewa; Steger-Jensen, Kenn

    2013-01-01

    to the challenges of issues such as energy conservation and pollution preventions. Facing the central tension between manufacturing and environmental drivers is difficult, but critical to develop new technologies, particularly mobile robots, that can be incorporated into production to achieve holistic solutions...... is to minimize total traveling time of the robot with the smallest consumed amount of battery energy in a given planning horizon. A mixed-integer programming (MIP) model is developed to find the optimal solutions for the problem. Two case studies are implemented at an impeller production line to demonstrate...

  14. The Driving Pipeline: A Driving Control Scheme for Mobile Robots

    Science.gov (United States)

    1988-06-01

    ATrvnCrlShemefortMobilesRobots K)BODTIC MTT Tehnca Report The Driving Pipeline: A Driving Control Scheme for Mobile Robots Yoshimasa Goto, Steven A...October, 1986. [4] Georges Giralt, Raja Chatila, and Marc Vaisset. An Integrated Navigation and Motion Control System for Autonomous Multsensory Mobile ... Robots . In The First International Symposium on Robotics Research, pages 191-214. j5] Y.Goto, etc.. C1M Sidewalk Navigation System. In Proc. of Fall

  15. Real Time Mapping and Dynamic Navigation for Mobile Robots

    OpenAIRE

    Maki K. Habib

    2008-01-01

    This paper discusses the importance, the complexity and the challenges of mapping mobile robot?s unknown and dynamic environment, besides the role of sensors and the problems inherited in map building. These issues remain largely an open research problems in developing dynamic navigation systems for mobile robots. The paper presenst the state of the art in map building and localization for mobile robots navigating within unknown environment, and then introduces a solution for the complex prob...

  16. Real Time Behavior-Based Control on a Mobile Robot

    Institute of Scientific and Technical Information of China (English)

    KootaMuzyamba; 钱晋武; 沈林勇; 章亚男

    2003-01-01

    This paper discusses and compares some common architectures used in autonomous mobile robotics. Then it describes a behavior-based autonomous mobile robot that was implemented successfully in the Robotics of the Department of Precision Mechanical Engineering. Fuzzy controller was used to implement the emergency behavior, the t~uiviors arbitration was implemented using the subsumption architecture. In an tmknown dynamic indoor environment, the robot achieved real-time obstacle avoidance properties that are cruel for mobile robolics.

  17. Real Time Mapping and Dynamic Navigation for Mobile Robots

    OpenAIRE

    Maki K. Habib

    2007-01-01

    This paper discusses the importance, the complexity and the challenges of mapping mobile robot?s unknown and dynamic environment, besides the role of sensors and the problems inherited in map building. These issues remain largely an open research problems in developing dynamic navigation systems for mobile robots. The paper presenst the state of the art in map building and localization for mobile robots navigating within unknown environment, and then introduces a solution for ...

  18. Robotics crosscutting program: Technology summary

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1996-08-01

    The Office of Environmental Management (EM) is responsible for cleaning up the legacy of radioactive and chemically hazardous waste at contaminated sites and facilities throughout the U.S. Department of Energy (DOE) nuclear weapons complex, preventing further environmental contamination, and instituting responsible environmental management. Initial efforts to achieve this mission resulted in the establishment of environmental restoration and waste management programs. However, as EM began to execute its responsibilities, decision makers became aware that the complexity and magnitude of this mission could not be achieved efficiently, affordably, safely, or reasonably with existing technology. Once the need for advanced cleanup technologies became evident, EM established an aggressive, innovative program of applied research and technology development. The Office of Technology Development (OTD) was established in November 1989 to advance new and improved environmental restoration and waste management technologies that would reduce risks to workers, the public, and the environment; reduce cleanup costs; and devise methods to correct cleanup problems that currently have no solutions. In 1996, OTD added two new responsibilities - management of a Congressionally mandated environmental science program and development of risk policy, requirements, and guidance. OTD was renamed the Office of Science and Technology (OST). This documents presents information concerning robotics tank waste retrieval overview, robotic chemical analysis automation, robotics decontamination and dismantlement, and robotics crosscutting and advanced technology.

  19. Mobile Robot Collision Avoidance in Human Environments

    Directory of Open Access Journals (Sweden)

    Lingqi Zeng

    2013-01-01

    Full Text Available Collision avoidance is a fundamental requirement for mobile robots. Avoiding moving obstacles (also termed dynamic obstacles with unpredictable direction changes, such as humans, is more challenging than avoiding moving obstacles whose motion can be predicted. Precise information on the future moving directions of humans is unobtainable for use in navigation algorithms. Furthermore, humans should be able to pursue their activities unhindered and without worrying about the robots around them. In this paper, both active and critical regions are used to deal with the uncertainty of human motion. A procedure is introduced to calculate the region sizes based on worst‐case avoidance conditions. Next, a novel virtual force field‐based mobile robot navigation algorithm (termed QVFF is presented. This algorithm may be used with both holonomic and nonholonomic robots. It incorporates improved virtual force functions for avoiding moving obstacles and its stability is proven using a piecewise continuous Lyapunov function. Simulation and experimental results are provided for a human walking towards the robot and blocking the path to a goal location. Next, the proposed algorithm is compared with five state‐of‐the‐art navigation algorithms for an environment with one human walking with an unpredictable change in direction. Finally, avoidance results are presented for an environment containing three walking humans. The QVFF algorithm consistently generated collision‐free paths to the goal.

  20. Mobile Robot for Life Science Automation

    Directory of Open Access Journals (Sweden)

    Hui Liu

    2013-07-01

    Full Text Available The paper presents a control system for mobile robots in distributed life science laboratories. The system covers all technical aspects of laboratory mobile robotics. In this system: (a to get an accurate and low-cost robot localization, a method using a StarGazer module with a number of ceiling landmarks is utilized; (b to have an expansible communication network, a standard IEEE 802.11g wireless network is adopted and a XML-based command protocol is designed for the communication between the remote side and the robot board side; (c to realize a function of dynamic obstacle measurement and collision avoidance, an artificial potential field method based on a Microsoft Kinect sensor is used; and (d to determine the shortest paths for transportation tasks, a hybrid planning strategy based on a Floyd algorithm and a Genetic Algorithm (GA is proposed. Additionally, to make the traditional GA method suitable for the laboratory robot's routing, a series of optimized works are also provided in detail. Two experiments show that the proposed system and its control strategy are effective for a complex life science laboratory.

  1. System safety analysis of an autonomous mobile robot

    Energy Technology Data Exchange (ETDEWEB)

    Bartos, R.J.

    1994-08-01

    Analysis of the safety of operating and maintaining the Stored Waste Autonomous Mobile Inspector (SWAMI) II in a hazardous environment at the Fernald Environmental Management Project (FEMP) was completed. The SWAMI II is a version of a commercial robot, the HelpMate{trademark} robot produced by the Transitions Research Corporation, which is being updated to incorporate the systems required for inspecting mixed toxic chemical and radioactive waste drums at the FEMP. It also has modified obstacle detection and collision avoidance subsystems. The robot will autonomously travel down the aisles in storage warehouses to record images of containers and collect other data which are transmitted to an inspector at a remote computer terminal. A previous study showed the SWAMI II has economic feasibility. The SWAMI II will more accurately locate radioactive contamination than human inspectors. This thesis includes a System Safety Hazard Analysis and a quantitative Fault Tree Analysis (FTA). The objectives of the analyses are to prevent potentially serious events and to derive a comprehensive set of safety requirements from which the safety of the SWAMI II and other autonomous mobile robots can be evaluated. The Computer-Aided Fault Tree Analysis (CAFTA{copyright}) software is utilized for the FTA. The FTA shows that more than 99% of the safety risk occurs during maintenance, and that when the derived safety requirements are implemented the rate of serious events is reduced to below one event per million operating hours. Training and procedures in SWAMI II operation and maintenance provide an added safety margin. This study will promote the safe use of the SWAMI II and other autonomous mobile robots in the emerging technology of mobile robotic inspection.

  2. On Endogenous Reconfiguration in Mobile Robotic Networks

    CERN Document Server

    Savla, Ketan

    2008-01-01

    In this paper, our focus is on certain applications for mobile robotic networks, where reconfiguration is driven by factors intrinsic to the network rather than changes in the external environment. In particular, we study a version of the coverage problem useful for surveillance applications, where the objective is to position the robots in order to minimize the average distance from a random point in a given environment to the closest robot. This problem has been well-studied for omni-directional robots and it is shown that optimal configuration for the network is a centroidal Voronoi configuration and that the coverage cost belongs to $\\Theta(m^{-1/2})$, where $m$ is the number of robots in the network. In this paper, we study this problem for more realistic models of robots, namely the double integrator (DI) model and the differential drive (DD) model. We observe that the introduction of these motion constraints in the algorithm design problem gives rise to an interesting behavior. For a \\emph{sparser} net...

  3. Technological advances in robotic-assisted laparoscopic surgery.

    Science.gov (United States)

    Tan, Gerald Y; Goel, Raj K; Kaouk, Jihad H; Tewari, Ashutosh K

    2009-05-01

    In this article, the authors describe the evolution of urologic robotic systems and the current state-of-the-art features and existing limitations of the da Vinci S HD System (Intuitive Surgical, Inc.). They then review promising innovations in scaling down the footprint of robotic platforms, the early experience with mobile miniaturized in vivo robots, advances in endoscopic navigation systems using augmented reality technologies and tracking devices, the emergence of technologies for robotic natural orifice transluminal endoscopic surgery and single-port surgery, advances in flexible robotics and haptics, the development of new virtual reality simulator training platforms compatible with the existing da Vinci system, and recent experiences with remote robotic surgery and telestration.

  4. A natural-language interface to a mobile robot

    Science.gov (United States)

    Michalowski, S.; Crangle, C.; Liang, L.

    1987-01-01

    The present work on robot instructability is based on an ongoing effort to apply modern manipulation technology to serve the needs of the handicapped. The Stanford/VA Robotic Aid is a mobile manipulation system that is being developed to assist severely disabled persons (quadriplegics) in performing simple activities of everyday living in a homelike, unstructured environment. It consists of two major components: a nine degree-of-freedom manipulator and a stationary control console. In the work presented here, only the motions of the Robotic Aid's omnidirectional motion base have been considered, i.e., the six degrees of freedom of the arm and gripper have been ignored. The goal has been to develop some basic software tools for commanding the robot's motions in an enclosed room containing a few objects such as tables, chairs, and rugs. In the present work, the environmental model takes the form of a two-dimensional map with objects represented by polygons. Admittedly, such a highly simplified scheme bears little resemblance to the elaborate cognitive models of reality that are used in normal human discourse. In particular, the polygonal model is given a priori and does not contain any perceptual elements: there is no polygon sensor on board the mobile robot.

  5. Mobile Robot Path Planning by RRT* in Dynamic Environments

    Directory of Open Access Journals (Sweden)

    Roudabe Seif

    2015-05-01

    Full Text Available Robot navigation is challenging for mobile robots technology in environments with maps. Since finding an optimal path for the agent is complicated and time consuming, path planning in robot navigation is an axial issue. The objective of this paper is to find a reasonable relation between parameters used in the path planning algorithm in a platform which a robot will be able to move from the start point in a dynamic environment with map and plan an optimal path to specified goal without any collision with moving and static obstacles. For this purpose, an asymptotically optimal version of Rapidly-exploring Random Tree RRT algorithm, named RRT* is used. The algorithm is based on an incremental sampling which covers the whole space and acts fast. Moreover this algorithm is computationally efficient, therefore it can be used in multidimensional environments. The obtained results indicate that a feasible path for mobile holomonic robot may be found in a short time by using this algorithm. Also different standard distances measurements like (Chebyshev, Euclidean, and City Block are examined, and coordinated with sampling node number in order to reach the suitable result based on environment circumstances.

  6. Robust performance of multiple tasks by a mobile robot

    Science.gov (United States)

    Beckerman, Martin; Barnett, Deanna L.; Dickens, Mike; Weisbin, Charles R.

    1989-01-01

    While there have been many successful mobile robot experiments, only a few papers have addressed issues pertaining to the range of applicability, or robustness, of robotic systems. The purpose of this paper is to report results of a series of benchmark experiments done to determine and quantify the robustness of an integrated hardware and software system of a mobile robot.

  7. Spectral Control of Mobile Robot Networks

    CERN Document Server

    Zavlanos, Michael M; Jadbabaie, Ali

    2010-01-01

    The eigenvalue spectrum of the adjacency matrix of a network is closely related to the behavior of many dynamical processes run over the network. In the field of robotics, this spectrum has important implications in many problems that require some form of distributed coordination within a team of robots. In this paper, we propose a continuous-time control scheme that modifies the structure of a position-dependent network of mobile robots so that it achieves a desired set of adjacency eigenvalues. For this, we employ a novel abstraction of the eigenvalue spectrum by means of the adjacency matrix spectral moments. Since the eigenvalue spectrum is uniquely determined by its spectral moments, this abstraction provides a way to indirectly control the eigenvalues of the network. Our construction is based on artificial potentials that capture the distance of the network's spectral moments to their desired values. Minimization of these potentials is via a gradient descent closed-loop system that, under certain convex...

  8. Bootstrap Learning and Visual Processing Management on Mobile Robots

    Directory of Open Access Journals (Sweden)

    Mohan Sridharan

    2010-01-01

    Full Text Available A central goal of robotics and AI is to enable a team of robots to operate autonomously in the real world and collaborate with humans over an extended period of time. Though developments in sensor technology have resulted in the deployment of robots in specific applications the ability to accurately sense and interact with the environment is still missing. Key challenges to the widespread deployment of robots include the ability to learn models of environmental features based on sensory inputs, bootstrap off of the learned models to detect and adapt to environmental changes, and autonomously tailor the sensory processing to the task at hand. This paper summarizes a comprehensive effort towards such bootstrap learning, adaptation, and processing management using visual input. We describe probabilistic algorithms that enable a mobile robot to autonomously plan its actions to learn models of color distributions and illuminations. The learned models are used to detect and adapt to illumination changes. Furthermore, we describe a probabilistic sequential decision-making approach that autonomously tailors the visual processing to the task at hand. All algorithms are fully implemented and tested on robot platforms in dynamic environments.

  9. BellBot - A Hotel Assistant System Using Mobile Robots

    Directory of Open Access Journals (Sweden)

    Joaquín López

    2013-01-01

    Full Text Available There is a growing interest in applying intelligent technologies to assistant robots. These robots should have a number of characteristics such as autonomy, easy reconfiguration, robust perception systems and they should be oriented towards close interaction with humans. In this paper we present an automatic hotel assistant system based on a series of mobile platforms that interact with guests and service personnel to help them in different tasks. These tasks include bringing small items to customers, showing them different points of interest in the hotel, accompanying the guests to their rooms and providing them with general information. Each robot can also autonomously handle some daily scheduled tasks. Apart from user-initiated and scheduled tasks, the robots can also perform tasks based on events triggered by the building's automation system (BAS. The robots and the BAS are connected to a central server via a local area network. The system was developed with the Robotics Integrated Development Environment (RIDE and was tested intensively in different environments.

  10. Line and Circle Formation of Distributed Autonomous Mobile Robots with Limited Sensor Range.

    Science.gov (United States)

    1996-06-01

    In the literature, formation problems for idealized distributed autonomous mobile robots were studied. Idealized robots are represented by a...problems of distributed mobile robots that are subjected to physical constraints are addressed. It is assumed that mobile robots have physical...consideration of physical robots and realistic sensors, and are validated through extensive simulations. Formation problems for mobile robots with limited

  11. Perspectives on mobile robots as tools for child development and pediatric rehabilitation.

    Science.gov (United States)

    Michaud, François; Salter, Tamie; Duquette, Audrey; Laplante, Jean-François

    2007-01-01

    Mobile robots (i.e., robots capable of translational movements) can be designed to become interesting tools for child development studies and pediatric rehabilitation. In this article, the authors present two of their projects that involve mobile robots interacting with children: One is a spherical robot deployed in a variety of contexts, and the other is mobile robots used as pedagogical tools for children with pervasive developmental disorders. Locomotion capability appears to be key in creating meaningful and sustained interactions with children: Intentional and purposeful motion is an implicit appealing factor in obtaining children's attention and engaging them in interaction and learning. Both of these projects started with robotic objectives but are revealed to be rich sources of interdisciplinary collaborations in the field of assistive technology. This article presents perspectives on how mobile robots can be designed to address the requirements of child-robot interactions and studies. The authors also argue that mobile robot technology can be a useful tool in rehabilitation engineering, reaching its full potential through strong collaborations between roboticists and pediatric specialists.

  12. Design, Development, and Mobility Test of an Omnidirectional Mobile Robot for Rough Terrain

    Science.gov (United States)

    2012-01-01

    Isotropy for ASOC Design All omnidirectional mobile robots are able to instantaneously travel in any planar direction. However, while some...omnidirectional mobile robots exhibit preferred directions of travel, others exhibit equal mobility characteristics in all directions, i.e. “isotropic...Redundantly Actuated Omni-directional Mobile Robots . In: Proc. of the 2002 IEEE Int. Conf. on Robotics and Automation, Washington DC, pp. 732–737. 13

  13. Mobile Robot for Life Science Automation

    Directory of Open Access Journals (Sweden)

    Hui Liu

    2013-07-01

    Full Text Available The paper presents a control system for mobile robots in distributed life science laboratories. The system covers all technical aspects of laboratory mobile robotics. In this system: (a to get an accurate and low-cost robot localization, a method using a StarGazer module with a number of ceiling landmarks is utilized; (b to have an expansible communication network, a standard IEEE 802.11g wireless network is adopted and a XML-based command protocol is designed for the communication between the remote side and the robot board side; (c to realize a function of dynamic obstacle measurement and collision avoidance, an artificial potential field method based on a Microsoft Kinect sensor is used; and (d to determine the shortest paths for transportation tasks, a hybrid planning strategy based on a Floyd algorithm and a Genetic Algorithm (GA is proposed. Additionally, to make the traditional GA method suitable for the laboratory robot’s routing, a series of optimized works are also provided in detail. Two experiments show that the proposed system and its control strategy are effective for a complex life science laboratory.

  14. Controllability of a multibody mobile robot

    Energy Technology Data Exchange (ETDEWEB)

    Laumond, J.P. (LAAS/CNRS, Toulouse (France))

    1993-12-01

    This paper presents a proof of controllability for a multibody mobile robot (e.g., a car pulling and pushing trailers like a luggage carrier in an airport). Such systems appear as canonical systems to illustrate the tools from differential geometric control theory required by nonholonomic motion planning. Three modeling steps are considered: geometric, differential, and control steps. The author derives the kinematic equations for four distinct multibody mobile robot systems: a convoy driven by (1) a unicycle, (2) a two-driving wheels vehicle, (3) a real and (4) the first two bodies. He shows that these four control systems correspond to the same differential model, which is then used to give the same proof of controllability. Previous work proved the controllability of two-body systems and three body systems. The main result of this paper is proving the controllability for a general n-body system.

  15. Intelligent Mobile Robot Control in Unknown Environments

    Science.gov (United States)

    Mester, Gyula

    This paper gives the fuzzy reactive control of a wheeled mobile robot motion in an unknown environment with obstacles. The model of the vehicle has two driving wheels and the angular velocities of the two wheels are independently controlled. When the vehicle is moving towards the target and the sensors detect an obstacle, an avoiding strategy is necessary. We proposed a fuzzy reactive navigation strategy of collision-free motion in an unknown environment with obstacles. First, the vehicle kinematics constraints and kinematics model are analyzed. Then the fuzzy reactive control of a wheeled mobile robot motion in an unknown environment with obstacles is proposed. Output of the fuzzy controller is the angular speed difference between the left and right wheels (wheel angular speed correction) of the vehicle. The simulation results show the effectiveness and the validity of the obstacle avoidance behavior in an unknown environment of the proposed fuzzy control strategy.

  16. Mobile robot prototype detector of gamma radiation; Prototipo de robot movil detector de radiacion gamma

    Energy Technology Data Exchange (ETDEWEB)

    Vazquez C, R.M. [ININ, Carretera Mexico-Toluca s/n, 52750 Ocoyoacac, Estado de Mexico (Mexico); Duran V, M. D.; Jardon M, C. I., E-mail: raulmario.vazquez@inin.gob.mx [Tecnologico de Estudios Superiores de Villa Guerrero, Carretera Federal Toluca-Ixtapan de la Sal Km. 64.5, La Finca Villa Guerrero, Estado de Mexico (Mexico)

    2014-10-15

    In this paper the technological development of a mobile robot prototype detector of gamma radiation is shown. This prototype has been developed for the purpose of algorithms implementation for the applications of terrestrial radiation monitoring of exposed sources, search for missing radioactive sources, identification and delineation of radioactive contamination areas and distribution maps generating of radioactive exposure. Mobile robot detector of radiation is an experimental technology development platform to operate in laboratory environment or flat floor facilities. The prototype integrates a driving section of differential configuration robot on wheels, a support mechanism and rotation of shielded detector, actuator controller cards, acquisition and processing of sensor data, detection algorithms programming and control actuators, data recording (Data Logger) and data transmission in wireless way. The robot in this first phase is remotely operated in wireless way with a range of approximately 150 m line of sight and can extend that range to 300 m or more with the use of signal repeaters. The gamma radiation detection is performed using a Geiger detector shielded. Scan detection is performed at various time sampling periods and diverse positions of discrete or continuous angular orientation on the horizon. The captured data are geographical coordinates of robot GPS (latitude and longitude), orientation angle of shield, counting by sampling time, date, hours, minutes and seconds. The data is saved in a file in the Micro Sd memory on the robot. They are also sent in wireless way by an X Bee card to a remote station that receives for their online monitoring on a laptop through an acquisition program by serial port on Mat Lab. Additionally a voice synthesizing card with a horn, both in the robot, periodically pronounced in Spanish, data length, latitude, orientation angle of shield and detected accounts. (Author)

  17. Neurobiologically inspired mobile robot navigation and planning

    Directory of Open Access Journals (Sweden)

    Mathias Quoy

    2007-11-01

    Full Text Available After a short review of biologically inspired navigation architectures, mainly relying on modeling the hippocampal anatomy, or at least some of its functions, we present a navigation and planning model for mobile robots. This architecture is based on a model of the hippocampal and prefrontal interactions. In particular, the system relies on the definition of a new cell type “transition cells” that encompasses traditional “place cells”.

  18. Neural dynamics for mobile robot adaptive control

    OpenAIRE

    Oubbati, Mohamed

    2006-01-01

    In this thesis, we investigate how dynamics in recurrent neural networks can be used to solve some specific mobile robot problems. We have designed a motion control approach based on a novel recurrent neural network. The advantage of this approach is that, no knowledge about the dynamic model is required, and no synaptic weight changing is needed in presence of time varying parameters. Furthermore, this approach allows a single fixed-weight network to act as a dynamic controller for several d...

  19. Airborne Chemical Sensing with Mobile Robots

    Science.gov (United States)

    Lilienthal, Achim J.; Loutfi, Amy; Duckett, Tom

    2006-01-01

    Airborne chemical sensing with mobile robots has been an active research area since the beginning of the 1990s. This article presents a review of research work in this field, including gas distribution mapping, trail guidance, and the different subtasks of gas source localisation. Due to the difficulty of modelling gas distribution in a real world environment with currently available simulation techniques, we focus largely on experimental work and do not consider publications that are purely based on simulations.

  20. Robot Companions: Technology for Humans

    CERN Document Server

    Kernbach, Serge

    2011-01-01

    Creation of devices and mechanisms which help people has a long history. Their inventors always targeted practical goals such as irrigation, harvesting, devices for construction sites, measurement, and, last but not least, military tasks for different mechanical and later mechatronic systems. Development of such assisting mechanisms counts back to Greek engineering, came through Middle Ages and led finally in XIX and XX centuries to autonomous devices, which we call today "Robots". This chapter provides overview of several robotic technologies, introduces bio-/chemo- hybrid and collective systems and discuss their applications in service areas.

  1. Intelligent control in mobile robotics: the PANORAMA project

    Science.gov (United States)

    Greenway, Phil

    1994-03-01

    The European Community's strategic research initiative in information technology has been in place for seven years. A good example of the pan-European collaborative projects conducted under this initiative is PANORAMA: Perception and Navigation for Autonomous Mobile Robot Applications. This four-and-a-half-year project, completed in October 1993, aimed to prove the feasibility of an autonomous mobile robotic system replacing a human-operated vehicle working outdoors in a partially structured environment. The autonomous control of a mobile rock drilling machine was chosen as a challenging and representative test scenario. This paper presents an overview of intelligent mobile robot control architectures. Goals and objectives of the project are described, together with the makeup of the consortium and the roles of the members within it. The main technical achievements from PANORAMA are then presented, with emphasis given to the problems of realizing intelligent control. In particular, the planning and replanning of a mission, and the corresponding architectural choices and infrastructure required to support the chosen task oriented approach, are discussed. Specific attention is paid to the functional decomposition of the system, and how the requirements for `intelligent control' impact on the organization of the identified system components. Future work and outstanding problems are considered in some concluding remarks.

  2. Platooning strategy of mobile robot: simulation and experiment

    OpenAIRE

    Baarath K.; Zakaria Muhammad Aizzat; Suparmaniam M.V.; Abu Mohd Yazid bin

    2017-01-01

    Concurrent studies show vehicle platooning system as a promising approach for a new transportation system. The platooning strategy can be also applied to automated mobile robots. Including dynamic modelling in the simulation with kinematic model would yield a different result as the dynamic modelling would include the physical parameters of the mobile robot. The aim is to create a model that describes the motion of a robot that follows another robot based on predetermined distance. Dynamic mo...

  3. Olfaction and Hearing Based Mobile Robot Navigation for Odor/Sound Source Search

    Directory of Open Access Journals (Sweden)

    Qi Wang

    2011-02-01

    Full Text Available Bionic technology provides a new elicitation for mobile robot navigation since it explores the way to imitate biological senses. In the present study, the challenging problem was how to fuse different biological senses and guide distributed robots to cooperate with each other for target searching. This paper integrates smell, hearing and touch to design an odor/sound tracking multi-robot system. The olfactory robot tracks the chemical odor plume step by step through information fusion from gas sensors and airflow sensors, while two hearing robots localize the sound source by time delay estimation (TDE and the geometrical position of microphone array. Furthermore, this paper presents a heading direction based mobile robot navigation algorithm, by which the robot can automatically and stably adjust its velocity and direction according to the deviation between the current heading direction measured by magnetoresistive sensor and the expected heading direction acquired through the odor/sound localization strategies. Simultaneously, one robot can communicate with the other robots via a wireless sensor network (WSN. Experimental results show that the olfactory robot can pinpoint the odor source within the distance of 2 m, while two hearing robots can quickly localize and track the olfactory robot in 2 min. The devised multi-robot system can achieve target search with a considerable success ratio and high stability.

  4. Olfaction and hearing based mobile robot navigation for odor/sound source search.

    Science.gov (United States)

    Song, Kai; Liu, Qi; Wang, Qi

    2011-01-01

    Bionic technology provides a new elicitation for mobile robot navigation since it explores the way to imitate biological senses. In the present study, the challenging problem was how to fuse different biological senses and guide distributed robots to cooperate with each other for target searching. This paper integrates smell, hearing and touch to design an odor/sound tracking multi-robot system. The olfactory robot tracks the chemical odor plume step by step through information fusion from gas sensors and airflow sensors, while two hearing robots localize the sound source by time delay estimation (TDE) and the geometrical position of microphone array. Furthermore, this paper presents a heading direction based mobile robot navigation algorithm, by which the robot can automatically and stably adjust its velocity and direction according to the deviation between the current heading direction measured by magnetoresistive sensor and the expected heading direction acquired through the odor/sound localization strategies. Simultaneously, one robot can communicate with the other robots via a wireless sensor network (WSN). Experimental results show that the olfactory robot can pinpoint the odor source within the distance of 2 m, while two hearing robots can quickly localize and track the olfactory robot in 2 min. The devised multi-robot system can achieve target search with a considerable success ratio and high stability.

  5. Two-Armed, Mobile, Sensate Research Robot

    Science.gov (United States)

    Engelberger, J. F.; Roberts, W. Nelson; Ryan, David J.; Silverthorne, Andrew

    2004-01-01

    The Anthropomorphic Robotic Testbed (ART) is an experimental prototype of a partly anthropomorphic, humanoid-size, mobile robot. The basic ART design concept provides for a combination of two-armed coordination, tactility, stereoscopic vision, mobility with navigation and avoidance of obstacles, and natural-language communication, so that the ART could emulate humans in many activities. The ART could be developed into a variety of highly capable robotic assistants for general or specific applications. There is especially great potential for the development of ART-based robots as substitutes for live-in health-care aides for home-bound persons who are aged, infirm, or physically handicapped; these robots could greatly reduce the cost of home health care and extend the term of independent living. The ART is a fully autonomous and untethered system. It includes a mobile base on which is mounted an extensible torso topped by a head, shoulders, and two arms. All subsystems of the ART are powered by a rechargeable, removable battery pack. The mobile base is a differentially- driven, nonholonomic vehicle capable of a speed >1 m/s and can handle a payload >100 kg. The base can be controlled manually, in forward/backward and/or simultaneous rotational motion, by use of a joystick. Alternatively, the motion of the base can be controlled autonomously by an onboard navigational computer. By retraction or extension of the torso, the head height of the ART can be adjusted from 5 ft (1.5 m) to 6 1/2 ft (2 m), so that the arms can reach either the floor or high shelves, or some ceilings. The arms are symmetrical. Each arm (including the wrist) has a total of six rotary axes like those of the human shoulder, elbow, and wrist joints. The arms are actuated by electric motors in combination with brakes and gas-spring assists on the shoulder and elbow joints. The arms are operated under closed-loop digital control. A receptacle for an end effector is mounted on the tip of the wrist and

  6. Robotic technologies for outdoor industrial vehicles

    Science.gov (United States)

    Stentz, Anthony

    2001-09-01

    The commercial industries of agriculture, mining, construction, and material handling employ a wide variety of mobile machines, including tractors, combines, Load-Haul-Dump vehicles, trucks, paving machines, fork trucks, and many more. Automation of these vehicles promises to improve productivity, reduce operational costs, and increase safety. Since the vehicles typically operate in difficult environments, under all weather conditions, and in the presence of people and other obstacles, reliable automation faces severe technical challenges. Furthermore, the viable technology solutions are constrained by cost considerations. Fortunately, due to the limited application domain, repetitive nature, and the utility of partial automation for most tasks, robotics technologies can have a profound impact on industrial vehicles. In this paper, we describe a technical approach developed at Carnegie Mellon University for automating mobile machines in several applications, including mass excavation, mining, and agriculture. The approach is introduced via case studies, and the results are presented.

  7. Navigation and Control of a Wheeled Mobile Robot

    Science.gov (United States)

    2005-01-01

    IEEE Transactions on Robotics and Automation, Vol. 16, No. 5, pp. 615- 620, (2000). [10] J. Guldner and...V. I. Utkin, �Sliding Mode Con- trol for Gradient Tracking and Robot Navigation Us- ing ArtiÞcial Potential Fields,� IEEE Transactions on Robotics and...P. Laumond, P. E. Jacobs, M. Taix, and R. M. Murray, �A Motion Planner for Nonholonomic Mobile Robots,� IEEE Transactions on Robotics and Automa-

  8. Design and implementation of modular software for programming mobile robots

    Directory of Open Access Journals (Sweden)

    Luca Iocchi

    2008-11-01

    Full Text Available This article describes a software development toolkit for programming mobile robots, that has been used on different platforms and for different robotic applications. We address design choices, implementation issues and results in the realization of our robot programming environment, that has been devised and built from many people since 1998. We believe that the proposed framework is extremely useful not only for experienced robotic software developers, but also for students approaching robotic research projects.

  9. Robotics Technology Crosscutting Program. Technology summary

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1995-06-01

    The Robotics Technology Development Program (RTDP) is a needs-driven effort. A length series of presentations and discussions at DOE sites considered critical to DOE`s Environmental Restoration and Waste Management (EM) Programs resulted in a clear understanding of needed robotics applications toward resolving definitive problems at the sites. A detailed analysis of the resulting robotics needs assessment revealed several common threads running through the sites: Tank Waste Retrieval (TWR), Contaminant Analysis Automation (CAA), Mixed Waste Operations (MWO), and Decontamination and Dismantlement (D and D). The RTDP Group also realized that some of the technology development in these four areas had common (Cross Cutting-CC) needs, for example, computer control and sensor interface protocols. Further, the OTD approach to the Research, Development, Demonstration, Testing, and Evaluation (RDDT and E) process urged an additional organizational breakdown between short-term (1--3 years) and long-term (3--5 years) efforts (Advanced Technology-AT). These factors lead to the formation of the fifth application area for Crosscutting and Advanced Technology (CC and AT) development. The RTDP is thus organized around these application areas -- TWR, CAA, MWO, D and D, and CC and AT -- with the first four developing short-term applied robotics. An RTDP Five-Year Plan was developed for organizing the Program to meet the needs in these application areas.

  10. Unified Approach To Control Of Motions Of Mobile Robots

    Science.gov (United States)

    Seraji, Homayoun

    1995-01-01

    Improved computationally efficient scheme developed for on-line coordinated control of both manipulation and mobility of robots that include manipulator arms mounted on mobile bases. Present scheme similar to one described in "Coordinated Control of Mobile Robotic Manipulators" (NPO-19109). Both schemes based on configuration-control formalism. Present one incorporates explicit distinction between holonomic and nonholonomic constraints. Several other prior articles in NASA Tech Briefs discussed aspects of configuration-control formalism. These include "Increasing the Dexterity of Redundant Robots" (NPO-17801), "Redundant Robot Can Avoid Obstacles" (NPO-17852), "Configuration-Control Scheme Copes with Singularities" (NPO-18556), "More Uses for Configuration Control of Robots" (NPO-18607/NPO-18608).

  11. The Embudito Mission: A Case Study of the Systematics of Autonomous Ground Mobile Robots

    Energy Technology Data Exchange (ETDEWEB)

    EICKER,PATRICK J.

    2001-02-01

    Ground mobile robots are much in the mind of defense planners at this time, being considered for a significant variety of missions with a diversity ranging from logistics supply to reconnaissance and surveillance. While there has been a very large amount of basic research funded in the last quarter century devoted to mobile robots and their supporting component technologies, little of this science base has been fully developed and deployed--notable exceptions being NASA's Mars rover and several terrestrial derivatives. The material in this paper was developed as a first exemplary step in the development of a more systematic approach to the R and D of ground mobile robots.

  12. Autonomous Coordination and Online Motion Modeling for Mobile Robots

    Science.gov (United States)

    2007-09-01

    COORDINATION AND ONLINE MOTION MODELING FOR MOBILE ROBOTS by Eric Sjoberg September 2007 Co-Advisors: Kevin Squire Craig Martell...AND DATES COVERED Master’s Thesis 4. TITLE AND SUBTITLE Autonomous Coordination and Online Motion Modeling for Mobile Robots 6. AUTHOR Eric J...unlimited AUTONOMOUS COORDINATION AND ONLINE MOTION MODELING FOR MOBILE ROBOTS Eric J. Sjoberg Captain, United States Marine Corps B.S

  13. Value-Based Communication Preservation for Mobile Robots

    Science.gov (United States)

    2006-01-01

    Value-Based Communication Preservation for Mobile Robots Matthew Powers and Tucker Balch Borg Lab College of Computing Georgia Institute of...SUBTITLE Value-Based Communication Preservation for Mobile Robots 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6. AUTHOR(S) 5d...for Mobile Robots 3 to reach nodes in the network and the identities of other nodes in the network. The algorithm explained below relies on this type

  14. Behavior-Based Power Management in Autonomous Mobile Robots

    Science.gov (United States)

    2008-03-27

    Behavior-Based Power Management In Autonomous Mobile Robots THESIS Charles A. Fetzek, First Lieutenant, USAF AFIT/GCE/ENG/08-05 DEPARTMENT OF THE AIR...of Defense, or the United States Government. AFIT/GCE/ENG/08-05 Behavior-Based Power Management In Autonomous Mobile Robots THESIS Presented to the...Management In Autonomous Mobile Robots Charles A. Fetzek, B.S.C.E. First Lieutenant, USAF Approved: /signed/ 4 Mar 2008 Dr. Gilbert L. Peterson (Chairman

  15. Experiences in Deploying Test Arenas for Autonomous Mobile Robots

    Science.gov (United States)

    2001-09-01

    Experiences in Deploying Test Arenas for Autonomous Mobile Robots Adam Jacoff, Elena Messina, John Evans Intelligent Systems Division National...test arenas for autonomous mobile robots . The first set of arenas was modeled after the Urban Search and Rescue (USAR) application and was designed to...00-00-2001 to 00-00-2001 4. TITLE AND SUBTITLE Experiences in Deploying Test Arenas for Autonomous Mobile Robots 5a. CONTRACT NUMBER 5b. GRANT

  16. Integrated Control Strategies Supporting Autonomous Functionalities in Mobile Robots

    Science.gov (United States)

    2005-01-01

    Integrated Control Strategies Supporting Autonomous Functionalities in Mobile Robots B. Sightsa, H.R. Everetta, E. Biagtan Pacisa, G. Koguta M...TYPE N/A 3. DATES COVERED - 4. TITLE AND SUBTITLE Integrated Control Strategies Supporting Autonomous Functionalities in Mobile Robots 5a...calculation methods using encoder counts, wheel radius, and the robot’s wheelbase, as described in Sensors For Mobile Robots [5]. On top of this

  17. Exploration of mobile educational technology

    OpenAIRE

    Hosny, W.

    2007-01-01

    Recent advances in mobile and wireless technology could be utilised to enhance the delivery of educational programmes. The use of this technology is known as “Mobile Education”. Mobile education technology provides unique opportunities for educators to flexibly deliver their educational material to learners via mobile services anywhere at any time. Moreover, the material delivered could be adapted to the learners’ needs and preferences. Examples of mobile devices which could be used in mobile...

  18. Remote manipulators and mobile robots in the CEA; Telemanipulation et robotique mobile au CEA

    Energy Technology Data Exchange (ETDEWEB)

    Detriche, J.M. [CEA Centre d`Etudes de Saclay, 91 - Gif-sur-Yvette (France). Dept. des Procedes et Systemes Avances

    1995-05-01

    Thanks to Jean Vertut`s works in the seventies, the CEA has been a pioneer in nuclear remote manipulation and mobile robots conception and has developed innovating systems in response to industry request. During the nineties, improvements in computer control systems have led to the realization of functional demonstrators. In 1995, advances in technology have allowed to consider the first industrial applications of nuclear remote manipulators and robots. This paper gives a review of the development and research works carried out by the CEA in this domain since the seventies, and also some future prospects. (J.S.). 10 figs.

  19. Robotics Technology Development Program. Technology summary

    Energy Technology Data Exchange (ETDEWEB)

    1994-02-01

    The Robotics Technology Development Program (RTDP) is a ``needs-driven`` effort. A lengthy series of presentations and discussions at DOE sites considered critical to DOE`s Environmental Restoration and Waste Management (EM) Programs resulted in a clear understanding of needed robotics applications toward resolving definitive problems at the sites. A detailed analysis of the Tank Waste Retrieval (TWR), Contaminant Analysis Automation (CAA), Mixed Waste Operations (MWO), and Decontamination & Dismantlement (D&D). The RTDP Group realized that much of the technology development was common (Cross Cutting-CC) to each of these robotics application areas, for example, computer control and sensor interface protocols. Further, the OTD approach to the Research, Development, Demonstration, Testing, and Evaluation (RDDT&E) process urged an additional organizational break-out between short-term (1--3 years) and long-term (3--5 years) efforts (Advanced Technology-AT). The RDTP is thus organized around these application areas -- TWR, CAA, MWO, D&D and CC&AT -- with the first four developing short-term applied robotics. An RTDP Five-Year Plan was developed for organizing the Program to meet the needs in these application areas.

  20. Mobile autonomous robotic apparatus for radiologic characterization

    Energy Technology Data Exchange (ETDEWEB)

    Dudar, A.M.; Ward, C.R.; Jones, J.D.; Mallet, W.R.; Harpring, L.J.; Collins, M.X.; Anderson, E.K.

    1999-08-10

    A mobile robotic system is described that conducts radiological surveys to map alpha, beta, and gamma radiation on surfaces in relatively level open areas or areas containing obstacles such as stored containers or hallways, equipment, walls and support columns. The invention incorporates improved radiation monitoring methods using multiple scintillation detectors, the use of laser scanners for maneuvering in open areas, ultrasound pulse generators and receptors for collision avoidance in limited space areas or hallways, methods to trigger visible alarms when radiation is detected, and methods to transmit location data for real-time reporting and mapping of radiation locations on computer monitors at a host station. A multitude of high performance scintillation detectors detect radiation while the on-board system controls the direction and speed of the robot due to pre-programmed paths. The operators may revise the preselected movements of the robotic system by ethernet communications to remonitor areas of radiation or to avoid walls, columns, equipment, or containers. The robotic system is capable of floor survey speeds of from 1/2-inch per second up to about 30 inches per second, while the on-board processor collects, stores, and transmits information for real-time mapping of radiation intensity and the locations of the radiation for real-time display on computer monitors at a central command console. 4 figs.

  1. Mobile autonomous robotic apparatus for radiologic characterization

    Energy Technology Data Exchange (ETDEWEB)

    Dudar, Aed M. (Dearborn, MI); Ward, Clyde R. (Aiken, SC); Jones, Joel D. (Aiken, SC); Mallet, William R. (Cowichan Bay, CA); Harpring, Larry J. (North Augusta, SC); Collins, Montenius X. (Blackville, SC); Anderson, Erin K. (Pleasanton, CA)

    1999-01-01

    A mobile robotic system that conducts radiological surveys to map alpha, beta, and gamma radiation on surfaces in relatively level open areas or areas containing obstacles such as stored containers or hallways, equipment, walls and support columns. The invention incorporates improved radiation monitoring methods using multiple scintillation detectors, the use of laser scanners for maneuvering in open areas, ultrasound pulse generators and receptors for collision avoidance in limited space areas or hallways, methods to trigger visible alarms when radiation is detected, and methods to transmit location data for real-time reporting and mapping of radiation locations on computer monitors at a host station. A multitude of high performance scintillation detectors detect radiation while the on-board system controls the direction and speed of the robot due to pre-programmed paths. The operators may revise the preselected movements of the robotic system by ethernet communications to remonitor areas of radiation or to avoid walls, columns, equipment, or containers. The robotic system is capable of floor survey speeds of from 1/2-inch per second up to about 30 inches per second, while the on-board processor collects, stores, and transmits information for real-time mapping of radiation intensity and the locations of the radiation for real-time display on computer monitors at a central command console.

  2. PENGONTROLAN GERAK MOBILE ROBOT MENGGUNAKAN SENSOR ACCELEROMETER PADA PERANGKAT BERGERAK ANDROID

    Directory of Open Access Journals (Sweden)

    Dedy Hermanto

    2015-02-01

    Full Text Available Smartphones are mobile devices that are often use by every one. In android smarphones, embedded several sensors are use to support for android phone. One of sensors that provide on android smartphones are acceleromoter sensor, an accelerometer is used to measure the acceleration of the angle X, Y and Z. With that sensors will used to drive mobile robot movement accordance with the changes of value from accelerometer sensors. This mobile robot application communicate to smartphones using bluetooth, with this wireless technology use serial for line communication to send data value to mobile robot from smartphonnes. Application for mobile robot movement using value X and Y from accelerometer sensor get from smartphones.

  3. Intelligent Vision System for Door Sensing Mobile Robot

    Directory of Open Access Journals (Sweden)

    Jharna Majumdar

    2012-08-01

    Full Text Available Wheeled Mobile Robots find numerous applications in the Indoor man made structured environments. In order to operate effectively, the robots must be capable of sensing its surroundings. Computer Vision is one of the prime research areas directed towards achieving these sensing capabilities. In this paper, we present a Door Sensing Mobile Robot capable of navigating in the indoor environment. A robust and inexpensive approach for recognition and classification of the door, based on monocular vision system helps the mobile robot in decision making. To prove the efficacy of the algorithm we have designed and developed a ‘Differentially’ Driven Mobile Robot. A wall following behavior using Ultra Sonic range sensors is employed by the mobile robot for navigation in the corridors.  Field Programmable Gate Arrays (FPGA have been used for the implementation of PD Controller for wall following and PID Controller to control the speed of the Geared DC Motor.

  4. Mobile robot navigation in unknown static environments using ANFIS controller

    Directory of Open Access Journals (Sweden)

    Anish Pandey

    2016-09-01

    Full Text Available Navigation and obstacle avoidance are the most important task for any mobile robots. This article presents the Adaptive Neuro-Fuzzy Inference System (ANFIS controller for mobile robot navigation and obstacle avoidance in the unknown static environments. The different sensors such as ultrasonic range finder sensor and sharp infrared range sensor are used to detect the forward obstacles in the environments. The inputs of the ANFIS controller are obstacle distances obtained from the sensors, and the controller output is a robot steering angle. The primary objective of the present work is to use ANFIS controller to guide the mobile robot in the given environments. Computer simulations are conducted through MATLAB software and implemented in real time by using C/C++ language running Arduino microcontroller based mobile robot. Moreover, the successful experimental results on the actual mobile robot demonstrate the effectiveness and efficiency of the proposed controller.

  5. Mobile robot competition. Underground mining: A challenging application in mobile robotics

    CSIR Research Space (South Africa)

    Green, J

    2011-09-01

    Full Text Available This paper presents the history, current position and future aspirations of the mobile robot competition. It has been run for a number of years in the past under the guidance of National Instruments as an undergraduate competition for National...

  6. Chemical Source Localization using Mobile Robots in Indoor Arena

    Directory of Open Access Journals (Sweden)

    Yuli Zhang

    2013-07-01

    Full Text Available This paper presents a virtual-physics force based control strategy for swarm robotic chemical source localization. The control force includes: structure formation force, goal force, and obstacle avoidant force. For swarm formation, the robots maintain the regular polygon formation and a virtual robot is located at the center of the polygon. The motion of the virtual robot depends on the goal force which obtained from the sensor observations of the robots. Once the virtual robot moved to a new place, the robots would also move as a single body with the structure formation force and obstacle avoidant force. In this paper, we adopted chemotaxis as plume tracing algorithms. Simulation experiments in indoor arena without obstacle and with obstacles using different robot number are carried out respectively, and the results show that the proposed strategy can effectively navigate the mobile robotics swarms to the chemical source once selecting proper number of robots.  

  7. Rule-based Dynamic Safety Monitoring for Mobile Robots

    DEFF Research Database (Denmark)

    Adam, Marian Sorin; Larsen, Morten; Jensen, Kjeld;

    2016-01-01

    —Safety is a key challenge in robotics, in particular for mobile robots operating in an open and unpredictable environment. Safety certification is desired for commercial robots, but no existing approaches for addressing the safety challenge provide a clearly specified and isolated safety layer...

  8. New Design of Mobile Robot Path Planning with Randomly Moving Obstacles

    Directory of Open Access Journals (Sweden)

    T. A. Salih

    2013-05-01

    Full Text Available The navigation of a mobile robot in an unknown environment has always been a very challenging task. In order to achieve safe and autonomous navigation, the mobile robot needs to sense the surrounding environment and plans a collision-free path. This paper focuses on designing and implementing a mobile robot which has the ability of navigating smoothly in an unknown environment, avoiding collisions, without having to stop in front of obstacles, detecting leakage of combustible gases and transmitting a message of detection results to the civil defense unit automatically through the Internet to the E-mail. This design uses the implementation of artificial neural network (ANN on a new technology represented by Field Programmable Analog Array (FPAA for controlling the motion of the robot. The robot with the proposed controller is tested and has completed the required objective successfully.

  9. Comparing mobile robot localisation algorithms using Kalmtool

    DEFF Research Database (Denmark)

    Mogensen, Lars Valdemar; Hansen, Søren; Ravn, Ole

    2009-01-01

    In this paper we present an estimation platform with simulation capabilities to evaluate methods for localisation of a mobile robot using a feature map. The platform is based on the Kalmtool 4 toolbox which is a set of MATLAB tools for state estimation of nonlinear systems. The toolbox contains...... functions for extended Kalman filtering as well as for the DD1 filter and the DD2 filter. It also contains functions for Unscented Kalman filters as well as three versions of particle filters. The toolbox requires MATLAB version 7, but no additional toolboxes are required....

  10. A Survey of Collective Movement of Mobile Robots

    Directory of Open Access Journals (Sweden)

    Iñaki Navarro

    2013-01-01

    Full Text Available Collective movement of mobile robots is the problem of how to control a group of robots making them move as a group, in a cohesive way, towards a common direction. Collective movement serves not only to move a group of robots from one point to another, but to perform more complex tasks such as using the group of robots as a moving sensor array, collective mapping and searching tasks. In this article, a survey of collective movement of mobile robots is done, including a classification and characterization of its different types, a review of the most important architectures and a list of its promising applications.

  11. Approaches to probabilistic model learning for mobile manipulation robots

    CERN Document Server

    Sturm, Jürgen

    2013-01-01

    Mobile manipulation robots are envisioned to provide many useful services both in domestic environments as well as in the industrial context. Examples include domestic service robots that implement large parts of the housework, and versatile industrial assistants that provide automation, transportation, inspection, and monitoring services. The challenge in these applications is that the robots have to function under changing, real-world conditions, be able to deal with considerable amounts of noise and uncertainty, and operate without the supervision of an expert. This book presents novel learning techniques that enable mobile manipulation robots, i.e., mobile platforms with one or more robotic manipulators, to autonomously adapt to new or changing situations. The approaches presented in this book cover the following topics: (1) learning the robot's kinematic structure and properties using actuation and visual feedback, (2) learning about articulated objects in the environment in which the robot is operating,...

  12. Sociable mobile robots through self-maintained energy

    DEFF Research Database (Denmark)

    Ngo, Trung Dung; Schiøler, Henrik

    2006-01-01

    Research of sociable robots has emphasized interaction and coordination of mobile robots with inspiration from natural behavior of birds, insects, and fish: flocking, foraging, collecting, sharing and so forth. However, the animal behaviors are looking for food towards survival. In an animal...... society, collecting and sharing are experimentally recognized as the highest property. This paper issues an approach to sociable robots using self-maintained energy in robot society, which is naturally inspired from swarm behavior of honey-bee and ant. Typically, autonomous mobile robots are usually...... equipped with a finite energy, thus they can operate in a finite time. To overcome the limitation, we describe practical deployment of a group of mobile robot with the possibility of carrying and exchanging fuel, e.g. battery to other robots. Early implementation that includes modular hardware and control...

  13. Sociable mobile robots through self-maintained energy

    DEFF Research Database (Denmark)

    Ngo, Trung Dung; Schiøler, Henrik

    2006-01-01

    Research of sociable robots has emphasized interaction and coordination of mobile robots with inspiration from natural behavior of birds, insects, and fish: flocking, foraging, collecting, sharing and so forth. However, the animal behaviors are looking for food towards survival. In an animal...... society, collecting and sharing are experimentally recognized as the highest property. This paper issues an approach to sociable robots using self-maintained energy in robot society, which is naturally inspired from swarm behavior of honey-bee and ant. Typically, autonomous mobile robots are usually...... equipped with a finite energy, thus they can operate in a finite time. To overcome the limitation, we describe practical deployment of a group of mobile robot with the possibility of carrying and exchanging fuel, e.g. battery to other robots. Early implementation that includes modular hardware and control...

  14. Multisensor Data Fusion and Integration for Mobile Robots: A Review

    Directory of Open Access Journals (Sweden)

    KS Nagla

    2013-09-01

    Full Text Available One of the most important and useful feature of autonomous mobile robots is their ability to adopt themselves to operate in unstructured environment. Today robots are performing autonomously in industrial floor, office environments, as well as in crowded public places where the robots need to maintain their localization and mapping parameters.The basic requirement of an intelligent mobile robot is to develop and maintain localization and mapping parameters to complete the complex missions. In such situations, several difficulties arise in due to the inaccuracies and uncertainties in sensor measurements. Various techniques are there to handle such noises where the multisensor data fusion is not the exceptional one.From the last two decades, multisensor data fusions in mobile robots become a dominant paradigm  due to its potential advantages like reduction in uncertainty, increase in accuracy and reliability and reduction of cost.This paper presents the reviews of autonomous mobile robots and role of multisenosr data fusion.

  15. Traversable Terrain Modeling and Performance Measurement of Mobile Robots

    Science.gov (United States)

    2004-08-01

    In this paper, we have described a technique for terrain traversability assessment modeling of mobile robots operating in natural terrain and...presented a fast near-optimum algorithm for autonomous navigational path planning of mobile robots in rough terrain environments. The proposed method is

  16. Using Advanced Computer Vision Algorithms on Small Mobile Robots

    Science.gov (United States)

    2006-04-20

    this approach is the implementation of advanced computer vision algorithms on small mobile robots . We demonstrate the implementation and testing of the...following two algorithms useful on mobile robots : (1) object classification using a boosted Cascade of classifiers trained with the Adaboost training

  17. Mobile Robot Navigation using Fuzzy Logic and Wavelet Network

    Directory of Open Access Journals (Sweden)

    Mustafa I. Hamzah

    2014-05-01

    Full Text Available This paper presents the proposed autonomous mobile robot navigation scheme.  The navigation of mobile robot in unknown environment with obstacle avoidance is based on using fuzzy logic and wavelet network. Several cases are designed and modeled in Simulink and MATLAB. Simulation results show good performance for the proposed scheme.

  18. SyRoTek--Distance Teaching of Mobile Robotics

    Science.gov (United States)

    Kulich, M.; Chudoba, J.; Kosnar, K.; Krajnik, T.; Faigl, J.; Preucil, L.

    2013-01-01

    E-learning is a modern and effective approach for training in various areas and at different levels of education. This paper gives an overview of SyRoTek, an e-learning platform for mobile robotics, artificial intelligence, control engineering, and related domains. SyRoTek provides remote access to a set of fully autonomous mobile robots placed in…

  19. Hybrid stabilizing control on a real mobile robot

    NARCIS (Netherlands)

    Oelen, Wilco; Berghuis, Harry; Nijmeijer, Henk; Canudas de Wit, Carlos

    1995-01-01

    To establish empirical verification of a stabilizing controller for nonholonomic systems, the authors implement a hybrid control concept on a 2-DOF mobile robot. Practical issues of velocity control are also addressed through a velocity controller which transforms the mobile robot to a new system wi

  20. Research on mobile robot navigation based on gyro

    Institute of Scientific and Technical Information of China (English)

    2010-01-01

    <正>A kind of mobile robot navigation system based on Silicon gyro was designed in this paper.First,full-field emplacement theory was discussed.Second,using TMS320F2812 DSP and CRS03 sensor,useful signal was extracted by signal conditioning circuit.Finally,the location of mobile robot was confirmed through digital filtering and gyro date processing.

  1. Auto-calibration of Systematic Odometry Errors in Mobile Robots

    DEFF Research Database (Denmark)

    Bak, Martin; Larsen, Thomas Dall; Andersen, Nils Axel

    1999-01-01

    This paper describes the phenomenon of systematic errors in odometry models in mobile robots and looks at various ways of avoiding it by means of auto-calibration. The systematic errors considered are incorrect knowledge of the wheel base and the gains from encoder readings to wheel displacement...... and experiments on a mobile robot....

  2. A Modular Approach for a Family of Ground Mobile Robots

    Directory of Open Access Journals (Sweden)

    Giuseppe Quaglia

    2013-07-01

    Full Text Available This paper deals with Epi.q, a family of mobile robots whose main characteristic is a wheel-legged hybrid locomotion. These multi-purpose robots can be successfully exploited for security and surveillance tasks. The document presents state of the art security robotics, the Epi.q mechanical architecture, the concept behind the robot driving unit, three prototypes and the design of a new one.

  3. Integrated Control Strategies Supporting Autonomous Functionalities in Mobile Robots

    OpenAIRE

    Brandon Sights; H.R. Everett; Estrellina Pacis; Greg Kogut; Michael Thompson

    2006-01-01

    High-level intelligence allows a mobile robot to create and interpret complex world models, but without a precise control system, the accuracy of the world model and the robot's ability to interact with its surroundings are greatly diminished. This problem is amplified when the environment is hostile, such as in a battlefield situation where an error in movement or a slow response may lead to destruction of the robot. As the presence of robots on the battlefield continues to escalate and the ...

  4. Indoor monocular mobile robot navigation based on color landmarks

    Institute of Scientific and Technical Information of China (English)

    LUO Yuan; ZHANG Bai-sheng; ZHANG Yi; LI Ling

    2009-01-01

    A robot landmark navigation system based on monocular camera was researched theoretically and experimentally. First the landmark setting and its data structure in programming was given; then the coordinates of them getting by robot and global localization of the robot was described; finally experiments based on Pioneer III mobile robot show that this system can work well at different topographic situation without lose of signposts.

  5. Distributed Mobile Robot Localization and Communication System for Special Interventions

    OpenAIRE

    Sales Gil, Jorge

    2011-01-01

    This thesis focuses on the development of a distributed mobile robot localization and communication system for special interventions like those carried out by fire-fighters in fire ground search and rescue. The use case scenario is related to the one described for the GUARDIANS EU project, where a swarm formation of mobile robots accompany a fire fighter during a rescue intervention in a warehouse. In this line, localizing the robots and the fire fighter during an indoor intervention with the...

  6. Study of Self-Organization Model of Multiple Mobile Robot

    OpenAIRE

    Li Shu-qin; Ceng Xian-yi; Xia De-shen

    2006-01-01

    A good organization model of multiple mobile robot should be able to improve the efficiency of the system, reduce the complication of robot interactions, and detract the difficulty of computation. From the sociology aspect of topology, structure and organization, this paper studies the multiple mobile robot organization formation and running mechanism in the dynamic, complicated and unknown environment. It presents and describes in detail a Hierarchical- Web Recursive Organization Model (HWRO...

  7. Characterization Parameters for a Three Degree of Freedom Mobile Robot

    Science.gov (United States)

    2013-12-01

    International Conference on Advanced Intelligent Mechatronics , Monterey, CA, USA. [5] E. Shuey and M. Shuey, “Modeling and simulation for a surf zone robot ...NAVAL POSTGRADUATE SCHOOL MONTEREY, CALIFORNIA THESIS CHARACTERIZATION PARAMETERS FOR A THREE DEGREE OF FREEDOM MOBILE ROBOT by Jessica L. Fitzgerald...Z39.18 12-20-2013 Master’s Thesis 2102-06-01—2104-10-31 CHARACTERIZATION PARAMETERS FOR A THREE DEGREE OF FREEDOM MOBILE ROBOT Jessica L. Fitzgerald

  8. The 1996 AAAI Mobile Robot Competition and Exhibition

    OpenAIRE

    Kortenkamp, David; Nourbakhsh, Illah; Hinkle, David

    1997-01-01

    The Fifth Annual AAAI Mobile Robot Competition and Exhibition was held in Portland, Oregon, in conjunction with the Thirteenth National Conference on Artificial Intelligence. The competition consisted of two events: (1) Office Navigation and (2) Clean Up the Tennis Court. The first event stressed navigation and planning. The second event stressed vision sensing and manipulation. In addition to the competition, there was a mobile robot exhibition in which teams demonstrated robot behaviors tha...

  9. A novel platform for internet-based mobile robot systems

    OpenAIRE

    Duong, P. M.; Hoang, T. T.; Van, N. T. T.; Viet, D. A.; Vinh, T. Q.

    2016-01-01

    In this paper, we introduce a software and hardware structure for on-line mobile robotic systems. The hardware mainly consists of a Multi-Sensor Smart Robot connected to the Internet through 3G mobile network. The system employs a client-server software architecture in which the exchanged data between the client and the server is transmitted through different transport protocols. Autonomous mechanisms such as obstacle avoidance and safe-point achievement are implemented to ensure the robot sa...

  10. Robotics: Breakthrough Technologies, Innovation, Intellectual Property

    OpenAIRE

    Andrew Keisner; Julio Raffo; Sacha Wunsch-Vincent

    2016-01-01

    Robotics technology and the increasing sophistication of artifi cial intelligence are breakthrough innovations with signifi cant growth prospects. Th ey have the potential to disrupt existing socio-economic facets of everyday life. Yet few studies have analysed the development of robotics innovation. Th is paper closes this gap by analysing current developments in innovation in robotics; how it is diff used, and what role is played by intellectual property (IP). Th e paper argues that robotic...

  11. Autonomous Deployment and Restoration of Sensor Network using Mobile Robots

    Directory of Open Access Journals (Sweden)

    Tsuyoshi Suzuki

    2010-06-01

    Full Text Available This paper describes an autonomous deployment and restoration of a Wireless Sensor Network (WSN using mobile robots. The authors have been developing an information-gathering system using mobile robots and WSNs in underground spaces in post-disaster environments. In our system, mobile robots carry wireless sensor nodes (SN and deploy them into the environment while measuring Received Signal Strength Indication (RSSI values to ensure communication, thereby enabling the WSN to be deployed and restored autonomously. If the WSN is disrupted, mobile robots restore the communication route by deploying additional or alternate SNs to suitable positions. Utilizing the proposed method, a mobile robot can deploy a WSN and gather environmental information via the WSN. Experimental results using a verification system equipped with a SN deployment and retrieval mechanism are presented.

  12. Autonomous Deployment and Restoration of Sensor Network using Mobile Robots

    Directory of Open Access Journals (Sweden)

    Tsuyoshi Suzuki

    2010-09-01

    Full Text Available This paper describes an autonomous deployment and restoration of a Wireless Sensor Network (WSN using mobile robots. The authors have been developing an information-gathering system using mobile robots and WSNs in underground spaces in post-disaster environments. In our system, mobile robots carry wireless sensor nodes (SN and deploy them into the environment while measuring Received Signal Strength Indication (RSSI values to ensure communication, thereby enabling the WSN to be deployed and restored autonomously. If the WSN is disrupted, mobile robots restore the communication route by deploying additional or alternate SNs to suitable positions. Utilizing the proposed method, a mobile robot can deploy a WSN and gather environmental information via the WSN. Experimental results using a verification system equipped with a SN deployment and retrieval mechanism are presented.

  13. 3D Stereo Visualization for Mobile Robot Tele-Guide

    DEFF Research Database (Denmark)

    Livatino, Salvatore

    2006-01-01

    learning and decision performance. Works in the literature have demonstrated how stereo vision contributes to improve perception of some depth cues often for abstract tasks, while little can be found about the advantages of stereoscopic visualization in mobile robot tele-guide applications. This work...... technologies. In particular, experiments were carried out on different virtual reality (VR) systems having different characteristics both in terms of sense of presence and interaction capabilities provided to a user, as well as cost and portability. Results from a set of test trials ran on five VR systems...

  14. The development of mobile robot for security application and nuclear facilities

    Energy Technology Data Exchange (ETDEWEB)

    Kim, B. S.; Lee, Y. B.; Choi, Y. S.; Seo, Y. C.; Park, Y. M

    1999-12-01

    The use of a mobile robot system in nuclear radioactive environments has the advantage of watching and inspecting the NPP safety-related equipment systematically and repairing damaged parts efficiently, thereby enhancing the safe operations of NPPs as well as reducing significantly personnel's dose rate to radioactive environment. Key technology achieved through the development of such robotic system can be used for security application and can offer new approaches to many of the tasks faced to the industry as well. The mobile robot system was composed of a mobile subsystem, a manipulator subsystem, a control subsystem, and a sensor subsystem to use in security application and nuclear radioactive environments. The mobile subsystem was adopted to synchro-drive method to improve the mobility of it. And the manipulator subsystem was developed to minimize the weight and easy to control at remote site. Finally, we developed the USB-based robot control system considering the expandability and modularity. The developed mobile robot for inspection and security was experimented for the collision avoidance and autonomous algorithm, and then it was confirmed that the mobile robot was very effective to the security application and inspection of nuclear facilities. (author)

  15. Improvement of the operation of wheels mobile robot TRASMAR2; Mejora del funcionamiento del robot movil de ruedas TRASMAR2

    Energy Technology Data Exchange (ETDEWEB)

    Guerra C, D. A.; Tovar M, R. [Instituto Tecnologico de San Luis Potosi, Av. Tecnologico s/n, Col. UPA Soledad de Graciano Sanchez, 78437 San Luis Potosi (Mexico); Gonzalez M, J. L.; Segovia de los Rios, A., E-mail: deniwar@gmail.com [ININ, Carretera Mexico-Toluca s/n, 52750 Ocoyoacac, Estado de Mexico (Mexico)

    2013-10-15

    In the Instituto Nacional de Investigaciones Nucleares (ININ), personnel have been working in the development of wheels mobile robots for the surveillance and supervision of contaminated areas, and for the radioactive material transport. One of these achievements is the wheels mobile robot denominated TRASMAR2, which is sought that works in the tele operated form using net technologies, in particular, using a Web page by means of the client-servant technology. For this, diverse circuits and control programs have been development with the purpose that the robot carries out the movements that are required, being considered the use of sensors to avoid collisions. The different programs have been implemented in different micro controllers, and although the robot was working, is necessary to optimize and to concentrate these programs on a single micro controller. In this work are presented the analysis of the previously implemented programs, as the realized changes, including new programs required to improve the robot operation. As complement, was development and implemented an alternative proposal of the robot's tele operation by means of a Web page using Lab view, which is described in the work. With this proposal tele operate the robot was achieved, although its application is evaluating due to the resources that is consumes. (author)

  16. Human Robotic Systems (HRS): Robotic Technologies for Asteroid Missions Element

    Data.gov (United States)

    National Aeronautics and Space Administration — During 2014, the Robotic Technologies for Asteroid Missions activity has four tasks:Asteroid Retrieval Capture Mechanism Development and Testbed;Mission Operations...

  17. Advances in Robotic Servicing Technology Development

    Science.gov (United States)

    Gefke, Gardell G.; Janas, Alex; Pellegrino, Joseph; Sammons, Matthew; Reed, Benjamin

    2015-01-01

    NASA's Satellite Servicing Capabilities Office (SSCO) has matured robotic and automation technologies applicable to in-space robotic servicing and robotic exploration over the last six years. This paper presents the progress of technology development activities at the Goddard Space Flight Center Servicing Technology Center and on the ISS, with an emphasis on those occurring in the past year. Highlighted advancements are design reference mission analysis for servicing in low Earth orbit (LEO) and asteroid redirection; delivery of the engineering development unit of the NASA Servicing Arm; an update on International Space Station Robotic Refueling Mission; and status of a comprehensive ground-based space robot technology demonstration expanding in-space robotic servicing capabilities beginning fall 2015.

  18. Mobile technologies for every library

    CERN Document Server

    Gleason, Ann Whitney

    2015-01-01

    If you are wondering what mobile technology adoption means for your library or how to get started, Mobile Technologies for Every Library will answer your questions! This book will detail the opportunities and pitfalls in using mobile technology in libraries. It will also address platforms, options, security, and best practices for starting new mobile services programs or improving existing services. Gleason previews many useful apps for libraries. Web links and resources are also included.

  19. Bilateral Teleoperation of Wheeled Mobile Robots Working in Common Workspace

    Directory of Open Access Journals (Sweden)

    Lorinc Marton Marton

    2014-07-01

    Full Text Available This paper proposes a bilateral control framework for mobile robots which share the same workspace. The robots are teleoperated by independent users. Accordingly, for each teleoperated robot the other robots represent moving obstacles or static obstacles with a-priori unknown positions. For such teleoperation systems a velocity generator algorithm is proposed to obtain the linear and angular velocity commands of the mobile robots. A procedure is also given to calculate the haptic force corresponding to each mobile robot. To guarantee the stability of the teleoperation in the presence of large communication delays, a supervisor control algorithm is proposed which constantly monitors the stability of the teleoperation system. Experimental measurements are provided to show the effectiveness of the proposed bilateral teleoperation strategy.

  20. Towards an in vivo wireless mobile robot for surgical assistance.

    Science.gov (United States)

    Hawks, Jeff A; Rentschler, Mark E; Redden, Lee; Infanger, Roger; Dumpert, Jason; Farritor, Shane; Oleynikov, Dmitry; Platt, Stephen R

    2008-01-01

    The use of miniature in vivo robots that fit entirely inside the peritoneal cavity represents a novel approach to laparoscopic surgery. Previous work has demonstrated that mobile and fixed-base in vivo robots can be used to improve visualization of the surgical field and perform surgical tasks such as collecting biopsy tissue samples. All of these robots used tethers to provide for power and data transmission. This paper describes recent work focused on developing a modular wireless mobile platform that could be used for in vivo robotic sensing and manipulation applications. One vision for these types of self-contained in vivo robotic devices is that they could be easily carried and deployed by non-medical personnel at the site of an injury. Such wireless in vivo robots are much more transportable and lower cost than current robotic surgical assistants, and could ultimately allow a surgeon to become a remote first responder irrespective of the location of the patient.

  1. Assistive Technology Based on Robotics and Rise in China

    Institute of Scientific and Technical Information of China (English)

    ZHANG Xiaoyu; WANG Kaixuan

    2013-01-01

    The concept of assistive technology based on robotics,rehabilitation robot and intelligent assistive devices.Domestic intelligence assistive devices include intelligent prosthetics,intelligent orthotics,intelligent walker,assistive devices for smart home environment control,intelligent life assistive devices; Domestic intelligent rehabilitation robot include upper limb rehabilitation robot,hand rehabilitation robot,lower limb rehabilitation robot,robotic smart wheelchair,intelligent nursing bed,daily care robot,the development trend of intelligent assistive devices and rehabilitation robot.

  2. Mobile Health Technology Evaluation

    Science.gov (United States)

    Kumar, Santosh; Nilsen, Wendy J.; Abernethy, Amy; Atienza, Audie; Patrick, Kevin; Pavel, Misha; Riley, William T.; Shar, Albert; Spring, Bonnie; Spruijt-Metz, Donna; Hedeker, Donald; Honavar, Vasant; Kravitz, Richard; Lefebvre, R. Craig; Mohr, David C.; Murphy, Susan A.; Quinn, Charlene; Shusterman, Vladimir; Swendeman, Dallas

    2013-01-01

    Creative use of new mobile and wearable health information and sensing technologies (mHealth) has the potential to reduce the cost of health care and improve well-being in numerous ways. These applications are being developed in a variety of domains, but rigorous research is needed to examine the potential, as well as the challenges, of utilizing mobile technologies to improve health outcomes. Currently, evidence is sparse for the efficacy of mHealth. Although these technologies may be appealing and seemingly innocuous, research is needed to assess when, where, and for whom mHealth devices, apps, and systems are efficacious. In order to outline an approach to evidence generation in the field of mHealth that would ensure research is conducted on a rigorous empirical and theoretic foundation, on August 16, 2011, researchers gathered for the mHealth Evidence Workshop at NIH. The current paper presents the results of the workshop. Although the discussions at the meeting were cross-cutting, the areas covered can be categorized broadly into three areas: (1) evaluating assessments; (2) evaluating interventions; and, (3) reshaping evidence generation using mHealth. This paper brings these concepts together to describe current evaluation standards, future possibilities and set a grand goal for the emerging field of mHealth research. PMID:23867031

  3. Mobile Sensor Technologies Being Developed

    Science.gov (United States)

    Greer, Lawrence C.; Oberle, Lawrence G.

    2003-01-01

    central command location. Web-based control and interrogation of similar mobile sensor platforms have also been demonstrated. Expected applications of this technology include robotic planetary exploration, astronaut-to-equipment communication, and remote aerospace engine inspections.

  4. Car-Like Mobile Robot Oriented Positioning by Fuzzy Controllers

    Directory of Open Access Journals (Sweden)

    Noureddine Ouadah

    2008-09-01

    Full Text Available In this paper, fuzzy logic controllers (FLC are used to implement an efficient and accurate positioning of an autonomous car-like mobile robot, respecting final orientation. To accomplish this task, called “Oriented Positioning”, two FLC have been developed: robot positioning controller (RPC and robot following controller (RFC. Computer simulation results illustrate the effectiveness of the proposed technique. Finally, real-time experiments have been made on an autonomous car-like mobile robot called “Robucar”, developed to perform people transportation. Obtained results from experiments demonstrate the effectiveness of the proposed control strategy.

  5. Car-Like Mobile Robot Oriented Positioning by Fuzzy Controllers

    Directory of Open Access Journals (Sweden)

    Noureddine Ouadah

    2008-11-01

    Full Text Available In this paper, fuzzy logic controllers (FLC are used to implement an efficient and accurate positioning of an autonomous car-like mobile robot, respecting final orientation. To accomplish this task, called "Oriented Positioning", two FLC have been developed: robot positioning controller (RPC and robot following controller (RFC. Computer simulation results illustrate the effectiveness of the proposed technique. Finally, real-time experiments have been made on an autonomous car-like mobile robot called "Robucar", developed to perform people transportation. Obtained results from experiments demonstrate the effectiveness of the proposed control strategy.

  6. Umgebungserfassungssystem fuer mobile Roboter (environment logging system for mobile autonomous robots)

    CERN Document Server

    Hesselbach, Dirk

    2012-01-01

    This diploma thesis describes the theoretical bases, the conception of the module and the final result of the development process in application. for the environment logging with a small mobile robot for interiors should be sketched an economical alternative to the expensive laser scanners. the structure, color or the material of the objects in the radius of action, as well as the environment brightness and illuminating are to have thereby no influence on the results of measurement.

  7. JPL Robotics Technology Applicable to Agriculture

    Science.gov (United States)

    Udomkesmalee, Suraphol Gabriel; Kyte, L.

    2008-01-01

    This slide presentation describes several technologies that are developed for robotics that are applicable for agriculture. The technologies discussed are detection of humans to allow safe operations of autonomous vehicles, and vision guided robotic techniques for shoot selection, separation and transfer to growth media,

  8. Mobile Robot Localization and Navigation in Artificial Intelligence: Survey

    Directory of Open Access Journals (Sweden)

    G. Nirmala

    2017-01-01

    Full Text Available The potential applications for mobile robots are enormous. The mobile robots must quickly and robustly perform useful tasks in a previously unknown, dynamic and challenging environment. Mobile robot navigation plays a key role in all mobile robot activities and tasks such as path planning. Mobile robots are machines which navigate around their environment getting sensory information about that environment and performing actions dependent on this sensory information. Localization is basic to navigation. Various techniques have been described for estimating the orientation and positioning of a mobile robot. Navigation may be defined as the process of guiding the movement of intelligent vehicle systems from one location to another location with the support of various types of sensors to the different environments such as indoor, outdoor and other complex environments by using various navigation methods. This paper reviews the following mobile robot systems which are used in navigation for localization (1 Odometry (2 Magnetic compass (3 Active beacons (4 Global positioning system (5 Landmark navigation (6 Pattern matching.

  9. Navigation strategies for multiple autonomous mobile robots moving in formation

    Science.gov (United States)

    Wang, P. K. C.

    1991-01-01

    The problem of deriving navigation strategies for a fleet of autonomous mobile robots moving in formation is considered. Here, each robot is represented by a particle with a spherical effective spatial domain and a specified cone of visibility. The global motion of each robot in the world space is described by the equations of motion of the robot's center of mass. First, methods for formation generation are discussed. Then, simple navigation strategies for robots moving in formation are derived. A sufficient condition for the stability of a desired formation pattern for a fleet of robots each equipped with the navigation strategy based on nearest neighbor tracking is developed. The dynamic behavior of robot fleets consisting of three or more robots moving in formation in a plane is studied by means of computer simulation.

  10. Steering control system for a mobile robot

    Science.gov (United States)

    Kolli, Kaylan C.; Hall, Ernest L.

    1997-09-01

    Automated guided vehicles (AGVs) have many potential applications in manufacturing, medicine, space and defense. The purpose of this paper is to describe the design of a steering mechanism for an autonomous mobile robot. The steering mechanism replaces a manually turned rack and pinion arrangement with a crank mechanism driven by a linear actuator that in turn is powered by a brushless dc motor. The system was modeled, analyzed, and redesigned to meet the requirements. A 486 computer through a 3-axis motion controller supervises the steering control. The steering motor is a brushless dc motor powered by three phase signals. It is run in current loop mode. The steering control system is supervised by a personal computer through a multi-axis motion controller. Testing of these systems has been done in the lab as well as on an outside test track with positive results.

  11. Reactive navigational controller for autonomous mobile robots

    Science.gov (United States)

    Hawkins, Scott

    1993-12-01

    Autonomous mobile robots must respond to external challenges and threats in real time. One way to satisfy this requirement is to use a fast low level intelligence to react to local environment changes. A fast reactive controller has been implemented which performs the task of real time local navigation by integrating primitive elements of perception, planning, and control. Competing achievement and constraint behaviors are used to allow abstract qualitative specification of navigation goals. An interface is provided to allow a higher level deliberative intelligence with a more global perspective to set local goals for the reactive controller. The reactive controller's simplistic strategies may not always succeed, so a means to monitor and redirect the reactive controller is provided.

  12. Embedded mobile farm robot for identification of diseased plants

    Science.gov (United States)

    Sadistap, S. S.; Botre, B. A.; Pandit, Harshavardhan; Chandrasekhar; Rao, Adesh

    2013-07-01

    This paper presents the development of a mobile robot used in farms for identification of diseased plants. It puts forth two of the major aspects of robotics namely automated navigation and image processing. The robot navigates on the basis of the GPS (Global Positioning System) location and data obtained from IR (Infrared) sensors to avoid any obstacles in its path. It uses an image processing algorithm to differentiate between diseased and non-diseased plants. A robotic platform consisting of an ARM9 processor, motor drivers, robot mechanical assembly, camera and infrared sensors has been used. Mini2440 microcontroller has been used wherein Embedded linux OS (Operating System) is implemented.

  13. Person identification for mobile robot using audio-visual modality

    Science.gov (United States)

    Kim, Young-Ouk; Chin, Sehoon; Lee, Jihoon; Paik, Joonki

    2005-10-01

    Recently, we experienced significant advancement in intelligent service robots. The remarkable features of an intelligent robot include tracking and identification of person using biometric features. The human-robot interaction is very important because it is one of the final goals of an intelligent service robot. Many researches are concentrating in two fields. One is self navigation of a mobile robot and the other is human-robot interaction in natural environment. In this paper we will present an effective person identification method for HRI (Human Robot Interaction) using two different types of expert systems. However, most of mobile robots run under uncontrolled and complicated environment. It means that face and speech information can't be guaranteed under varying conditions, such as lighting, noisy sound, orientation of a robot. According to a value of illumination and signal to noise ratio around mobile a robot, our proposed fuzzy rule make a reasonable person identification result. Two embedded HMM (Hidden Marhov Model) are used for each visual and audio modality to identify person. The performance of our proposed system and experimental results are compared with single modality identification and simply mixed method of two modality.

  14. A Survey on Open Problems for Mobile Robots

    CERN Document Server

    Bandettini, Alberto; Viglietta, Giovanni

    2011-01-01

    Gathering mobile robots is a widely studied problem in robotic research. This survey first introduces the related work, summarizing models and results. Then, the focus shifts on the open problem of gathering fat robots. In this context, "fat" means that the robot is not represented by a point in a bidimensional space, but it has an extent. Moreover, it can be opaque in the sense that other robots cannot "see through" it. All these issues lead to a redefinition of the original problem and an extension of the CORDA model. For at most 4 robots an algorithm is provided in the literature, but is gathering always possible for n>4 fat robots? Another open problem is considered: Boundary Patrolling by mobile robots. A set of mobile robots with constraints only on speed and visibility is working in a polygonal environment having boundary and possibly obstacles. The robots have to perform a perpetual movement (possibly within the environment) so that the maximum timespan in which a point of the boundary is not being wa...

  15. Designing Omni-Directional Mobile Robot with Mecanum Wheel

    Directory of Open Access Journals (Sweden)

    Jefri E.M. Salih

    2006-01-01

    Full Text Available This study presents the processes undertaken in the design and development of an intelligent omni-directional mobile robot using four custom-made mecanum wheels. The mecanum wheel developed consists of nine rollers made from delrin. All mecanum wheels are independently powered using four units of precisian gear DC motors and the wheel/motor assemblies were mounted directly to the robot chassis made using an aluminum frame. A four channel high power H-bridge using 2 units of LMD 18200 motor drivers IC circuit was design, built and interfaced to a BasicStamp (BS2 microcontroller board. Basic mobility algorithm using BasicStamp software was developed to test the basic mobility capabilities and test the qualitative view of the system's mobility performance. An experiment was set-up to analyze the motion characteristic of the mobile robot motion in Y-axis, X-axis and rotary motion. Data from the experiment will be used for mathematically model for mobile robot platform and speed controller modeling and design. Mecanum wheel mobile robot provides a convenient platform for further development in the mobile platform. The combination of mechanical design on the wheel and chassis, motion control and multiple input/output sensors allow the exploration of large number of control algorithm and software to be implemented to the robot for practical applications.

  16. Rational Handling of Multiple Goals for Mobile Robots

    Science.gov (United States)

    1993-11-01

    AD.-A273 733 V * ~ 1. K ~Rational Handling of Multiple Goals for Mobile Robots Richard Goodwin Reid Simmons November 1, 1993. CM-S-93-204 ... I.f it...8217A ~~DEC99 oilsi VI-uI Best Available Copy Radonal Handling of Multiple Goals for Mobile Robots Richard Goodwin Reid Sinnos November 1, 1993 CMU-€S-93...Engineering Research Council of Canada. 93 12 8, 081 1 Introduction This report examines a method for handling multiple active goals for mobile robots . Specifically

  17. Acquisition of 3-D Map Structures for Mobile Robots

    Science.gov (United States)

    2007-11-02

    U.S.N.A. — Trident Scholar project report; no. 295 (2002) Acquisition of 3-D Map Structures for Mobile Robots by Midshipman Edward H.L. Fong, Class...REPORT TYPE 3. DATES COVERED (FROM - TO) xx-xx-2002 to xx-xx-2002 4. TITLE AND SUBTITLE Acquisition of 3-D Map Structures for Mobile Robots Unclassified...AND SUBTITLE Acquisition of 3-D map structures for mobile robots 6. AUTHOR(S) Fong, Edward H. L. (Edward Hsiang Lung), 1980- 5. FUNDING NUMBERS 7

  18. Industrial Component-based Sample Mobile Robot System

    Directory of Open Access Journals (Sweden)

    Péter Kucsera

    2007-12-01

    Full Text Available The mobile robot development can be done in two different ways. The first is tobuild up an embedded system, the second is to use ‘ready to use’ industrial components.With the spread of Industrial mobile robots there are more and more components on themarket which can be used to build up a whole control and sensor system of a mobile robotplatform. Using these components electrical hardware development is not needed, whichspeeds up the development time and decreases the cost. Using a PLC on board, ‘only’constructing the program is needed and the developer can concentrate on the algorithms,not on developing hardware. My idea is to solve the problem of mobile robot localizationand obstacle avoidance using industrial components and concentrate this topic to themobile robot docking. In factories, mobile robots can be used to deliver parts from oneplace to another, but there are always two critical points. The robot has to be able tooperate in human environment, and also reach the target and get to a predefined positionwhere another system can load it or get the delivered product. I would like to construct amechanically simple robot model, which can calculate its position from the rotation of itswheels, and when it reaches a predefined location with the aid of an image processingsystem it can dock to an electrical connector. If the robot succeeded it could charge itsbatteries through this connector as well.

  19. Balance Analysis of the Mobile Anthropomimetic Robot Under Disturbances - ZMP Approach

    Directory of Open Access Journals (Sweden)

    Vesna Antoska

    2013-04-01

    Full Text Available Throughout the history of technological progress, attempts have been made to build a machine that looks and behaves like humans. This paper presents a semi‐anthropomimetic robot. The robot structure consists of a human‐like upper body mounted on a mobile platform (mobile base, cart. The robot uses the three‐wheeled mobile platform with two driving wheels and one passive (caster wheel. The configuration and model of the upper body are represented as an anthropomimetic, compliant robot with antagonistically coupled drives. Robust control is evaluated in order to ensure stability of the robot position. The aim of this work is not the synthesis of control, but rather the examination of the limits of the adopted robot control strategy and the robot behaviour under disturbances (analysis of tip‐over stability. The paper analyses both disturbances from the cart motion and external disturbances due to interaction with the environment (external impulse and long term external force. In order to analyse the balance of the robot and to avoid tipping over, different situations are tested and the appropriate dimensions of the cart are estimated (relying on the ZMP calculation.

  20. Robotics and tele-operation technology for applications in nuclear fields

    Energy Technology Data Exchange (ETDEWEB)

    Kosuge, Kazuhiro; Hirata, Yasuhisa; Takeo, Koji [Tohoku Univ., Department of Machine Intelligence and Systems Engineering, Sendai, Miyagi (Japan)

    2002-01-01

    In this article, we introduce available robotics and tele-operation technology for applications in Nuclear Fields. First, robotics technology for manipulation of a large object is introduced which has been experimentally applied to ITER Maintenance Robot. Then, transportation technology of a large object by multiple mobile robots is reviewed. At last, recent tele-operation technologies and a prototype tele-operation system, referred to as VISIT (Visual Interface System for Interactive Task-execution), is introduced. Several experimental results are also introduced. (author)

  1. Markov Localization for Mobile Robots in Dynamic Environments

    CERN Document Server

    Burgard, W; Thrun, S; 10.1613/jair.616

    2011-01-01

    Localization, that is the estimation of a robot's location from sensor data, is a fundamental problem in mobile robotics. This papers presents a version of Markov localization which provides accurate position estimates and which is tailored towards dynamic environments. The key idea of Markov localization is to maintain a probability density over the space of all locations of a robot in its environment. Our approach represents this space metrically, using a fine-grained grid to approximate densities. It is able to globally localize the robot from scratch and to recover from localization failures. It is robust to approximate models of the environment (such as occupancy grid maps) and noisy sensors (such as ultrasound sensors). Our approach also includes a filtering technique which allows a mobile robot to reliably estimate its position even in densely populated environments in which crowds of people block the robot's sensors for extended periods of time. The method described here has been implemented and teste...

  2. Autonomous Mobile Platform for Research in Cooperative Robotics

    Science.gov (United States)

    Daemi, Ali; Pena, Edward; Ferguson, Paul

    1998-01-01

    This paper describes the design and development of a platform for research in cooperative mobile robotics. The structure and mechanics of the vehicles are based on R/C cars. The vehicle is rendered mobile by a DC motor and servo motor. The perception of the robot's environment is achieved using IR sensors and a central vision system. A laptop computer processes images from a CCD camera located above the testing area to determine the position of objects in sight. This information is sent to each robot via RF modem. Each robot is operated by a Motorola 68HC11E micro-controller, and all actions of the robots are realized through the connections of IR sensors, modem, and motors. The intelligent behavior of each robot is based on a hierarchical fuzzy-rule based approach.

  3. Localization/mapping motion control system for a mobile robot

    Science.gov (United States)

    Yang-Syu, Jr.; Su, Chiun-Shiang; Yang, Chan-Yun

    2011-12-01

    The objective of this paper is to design a mobile robot with automatic motion behaviors and obstacle avoidance functions. The robot is also able to make the SLAM (Simultaneous Localization And Mapping) at an unknown environment. The robot position is calculated by the developed software program from the motor encoders. An obstacle avoidance controller is developed by the fuzzy theory. A LRF(laser ranger finder) is installed on the robot. The sensing data of this LRF are applied to calculate the environmental information for the obstacle avoidance controller. Then, the ICP (Iterative Closest Point) algorithm is applied to compare the position error of the environmental data in order to obtain the estimated position of the LRF. Finally, these estimated position data are used to calculate the final SLAM of this mobile robot. Both the simulation and experimental results show that this developed robot system work very well.

  4. Mobile devices tools and technologies

    CERN Document Server

    Collins, Lauren

    2015-01-01

    Mobile Devices: Tools and Technologies provides readers with an understanding of the mobile landscape available to app developers, system and network engineers, and the avid techie. As the trend of mobile technology has enabled the continuous development of ubiquitous applications, this book offers insights into tools and technologies critical to evaluating and implementing mobile strategies.The book is organized into four parts of 18 contributed chapters written by engineers in the areas of application and database development, mobile enterprise strategy, and networking and security. Througho

  5. Autonomous Mobile Robot Navigation Using Harmonic Potential Field

    Science.gov (United States)

    Panati, Subbash; Baasandorj, Bayanjargal; Chong, Kil To

    2015-05-01

    Mobile robot navigation has been an area of robotics which has gained massive attention among the researchers of robotics community. Path planning and obstacle avoidance are the key aspects of mobile robot navigation. This paper presents harmonic potential field based navigation algorithm for mobile robots. Harmonic potential field method overcomes the issue of local minima which was a major bottleneck in the case of artificial potential field method. The harmonic potential field is calculated using harmonic functions and Dirichlet boundary conditions are used for the obstacles, goal and initial position. The simulation results shows that the proposed method is able to overcome the local minima issue and navigate successfully from initial position to the goal without colliding into obstacles in static environment.

  6. FPGA-based Controller for a Mobile Robot

    CERN Document Server

    Kale, Shilpa

    2009-01-01

    With application in the robotics and automation, more and more it becomes necessary the development of applications based on methodologies that facilitate future modifications, updates and enhancements in the original projected system. This project presents a conception of mobile robots using rapid prototyping, distributing the several control actions in growing levels of complexity and computing proposal oriented to embed systems implementation. This kind of controller can be tested on different platform representing the mobile robots using reprogrammable logic components (FPGA). This mobile robot will detect obstacle and also be able to control the speed. Different modules will be Actuators, Sensors, wireless transmission. All this modules will be interfaced using FPGA controller. I would like to construct a mechanically simple robot model, which can measure the distance from obstacle with the aid of sensor and accordingly should able to control the speed of motor. I would like to construct a mechanically s...

  7. Internet-based Teleoperation Platform For Mobile Robot

    Institute of Scientific and Technical Information of China (English)

    YE Xiu-fen; LIU Peter; Xiao-ping; LI Guo-bin

    2002-01-01

    An Internet-based teleoperation platform for Mobile Robot is introduced in this paper. The hardware of the system mainly consists of a mobile robot. Its software employs client-server architecture for robot control and feedback information display. Different communication protocols are adopted according to the characteristics of message exchanged between the robot server and the client. The user interface is designed for the purpose of interaction. The great benefit of this client-server architecture is that the client software is insulated from the lowest level details of the mobile robot. Thus, it is very easy to implement and test new advanced teleoperation control algorithms, interface designs and applications on this platform without large programming work.

  8. On the Self-stabilization of Mobile Robots in Graphs

    CERN Document Server

    Blin, Lélia; Tixeuil, Sébastien

    2007-01-01

    Self-stabilization is a versatile technique to withstand any transient fault in a distributed system. Mobile robots (or agents) are one of the emerging trends in distributed computing as they mimic autonomous biologic entities. The contribution of this paper is threefold. First, we present a new model for studying mobile entities in networks subject to transient faults. Our model differs from the classical robot model because robots have constraints about the paths they are allowed to follow, and from the classical agent model because the number of agents remains fixed throughout the execution of the protocol. Second, in this model, we study the possibility of designing self-stabilizing algorithms when those algorithms are run by mobile robots (or agents) evolving on a graph. We concentrate on the core building blocks of robot and agents problems: naming and leader election. Not surprisingly, when no constraints are given on the network graph topology and local execution model, both problems are impossible to...

  9. Tethered Contactless Mobile Nuclear Environment Monitoring Robot

    Energy Technology Data Exchange (ETDEWEB)

    Choi, S. Y.; Lee, E. S.; Lee, Kun J.; Kim, Su H.; Rim, C. T. [Korea Advanced Institute of Science and Technology, Daejeon (Korea, Republic of)

    2013-05-15

    In fact, the nuclear environment monitoring is significantly crucial for early detection of NPP accident, radiological emergency, the estimation of radiation exposure to nearby residents as well as the long term radioactivity. In the UAE, the nuclear environment monitoring is, however, quite challenging because sampling locations are far from NPPs and the outdoor temperature and humidity are very high for NPP workers to collect soil, air, and water samples. Therefore, nuclear environment monitoring robots (Nubos) are strongly needed for the NPPs in the UAE. The Nubos can be remotely controlled to collect samples in extreme environment instead of NPP workers. Moreover, the Nubos can be unmanned ground vehicles (UGVs), unmanned aerial vehicles (UAVs) and unmanned marine vehicles (UMVs) to collect soil, air, and water samples, respectively. In this paper, the prototype development of UGV type Nubos using power cable for a long distance power delivery, called Tethered contactless mobile Nubo is introduced and validated by experiments. In this paper, the prototype development of Tethered Contactless Mobile (TeCoM) Nubo, which can be powered continuously within several km distance and avoid tangled cable, and the indoor test are finished. As further works, outdoor demonstration and a grand scale R and D proposal of practical Nubo will be proceeded.

  10. Mode Switching Control for Personal Mobility Robot

    Science.gov (United States)

    Hirose, Noriaki; Sukigara, Kazutoshi; Kajima, Hideki; Yamaoka, Masaaki

    The present paper introduces a novel standing-up control strategy based on Initial Value Compensation (IVC) for a Personal Mobility Robot (PMR). PMRs, which are wheeled-inverted-pendulum-type mobility-assist devices, offer the following advantages: (1) they can turn at a point; (2) they can maintain a level seating posture on a slope; and (3) they have a smaller footprint than conventional electric wheelchairs with four wheels. On the other hand, the user must maintain the posture of the PMR by using additional assist wheels on the ground when mounting/dismounting the PMR and working while seated on the PMR. In order to satisfy these requirements, we propose the following approach. First, the PMR accelerates to lift its assist wheels off the ground and determines whether the assist wheels are in contact with the ground. The feedback controller is then switched to wheeled-inverted-pendulum mode using the proposed IVC. The proposed IVC is designed such that the transient responses are improved and the amplitude of the control input and the jerk component are suppressed, in order to reduce the shock felt by the driver. The effectiveness of the proposed approach has been verified by conducting numerical simulations and experiments using a prototype PMR.

  11. Sensor Fusion and Model Verification for a Mobile Robot

    OpenAIRE

    Bisgaard, Morten; Vinther, Dennis; Østergaard, Kasper Zinck; Bendtsen, Jan Dimon; Izadi-Zamanabadi, Roozbeh

    2005-01-01

    This paper presents the results of modeling, sensor fusion and model verification for a four-wheel driven, four-wheel steered mobile robot moving in outdoor terrain. The model derived for the robot describes the actuator and wheel dynamics and the vehicle kinematics, and includes friction terms as well as slip. An Unscented Kalman Filter (UKF) based on the dynamic model is used for sensor fusion, feeding sensor measurements back to the robot controller in an intelligent manner. Through practi...

  12. Dynamics and control of nonholonomic mobile robot systems

    OpenAIRE

    Schiehlen, Werner

    1994-01-01

    The positional degrees of freedom of a mobile robot are reduced by nonholonomic constraints further to a smaller number of motional degrees of freedom. It is shown how the equations of motion can be reduced to a minimal number using generalized coordinates and generalized velocities. The theoretical results are applied to an actively controlled robot with stiff tires. One scalar control variable provides full controllability of the position of the robot moving on a plane surface. A control st...

  13. Mobile Technologies for Lifelong Learning

    OpenAIRE

    Alina Mihaela ION

    2015-01-01

    The article presents an analysis of the impact of using mobile devices on participants at the lifelong learning educational process. Human durable development involves adapting to new hardware and software technologies supported by the progress of information and communication technology. Along with technological evolution the access to mobile devices knew a significant growth and encouraged the extension of educational process towards lifelong learning through mobile devices. Thus m-Learning...

  14. Skateboards as a mobile technology

    OpenAIRE

    Hauser, Sabrina; Desjardins, Audrey; Wakkary, Ron

    2013-01-01

    Grounded in investigations of everyday design, this study explores the appropriative, creative, and adaptive practice of skateboarding as a way to reveal a new perspective on mobile technology and their influence on mobility. We describe how skateboarding, a technology seen as an embodied practice, encourages practitioners to engage with the environment and thereby changes their mobility, even though the technology requires extensive practice and is not easy to use. Comparing these aspects to...

  15. Making Sense of Mobile Technology

    OpenAIRE

    David Pauleen; John Campbell; Brian Harmer; Ali Intezari

    2015-01-01

    Mobile technologies have facilitated a radical shift in work and private life. In this article, we seek to better understand how individual mobile technology users have made sense of these changes and adapted to them. We have used narrative enquiry and sensemaking to collect and analyze the data. The findings show that mobile technology use blurs the boundaries between work and private life, making traditional time and...

  16. Key technologies and development of formation control of mobile robots%移动机器人队形控制关键技术及其进展

    Institute of Scientific and Technical Information of China (English)

    任立敏; 王伟东; 杜志江

    2013-01-01

    在明确了多机器人队形控制国内外发展现状的基础上,以地面移动机器人为研究对象,从系统结构、机器人模型、队形形状表示方法、参考框架及编队控制策略等方面,对多机器人编队控制的研究成果进行了概述。同时,对队形形状生成、编队跟踪与协调、队形变换与重组以及编队避障等队形控制子问题的国内外研究近况进行了总结和分析。最终指出:研究统一有效的编队控制框架、障碍环境下的队形优化变换、降低系统对通讯能力的要求以及编队控制在实际物理环境下的应用是移动机器人队形控制领域未来可能的研究主题。%On the basis of defining the present development of multi-robot formation control at home and abroad , with ground mobile robots as the research object , the research achievements on the multi-robot formation control are described in aspects of system structure , robot model , the formation shape representation method , reference frame and formation control strategy .In addition, the present domestic and foreign researches on such sub-problems of for-mation control as the generation of formation shape , formation tracking and coordination , formation change , recom-bination and formation , obstacle avoidance are also summarized and analyzed .It is pointed out finally that the uni-form and effective formation control frame , formation optimization and change in the obstacle environment , reducing system requirements on communication and the application of formation control in the actual physical environment are the future possible research topics .

  17. Sensor Fusion and Model Verification for a Mobile Robot

    DEFF Research Database (Denmark)

    Bisgaard, Morten; Vinther, Dennis; Østergaard, Kasper Zinck

    2005-01-01

    This paper presents the results of modeling, sensor fusion and model verification for a four-wheel driven, four-wheel steered mobile robot moving in outdoor terrain. The model derived for the robot describes the actuator and wheel dynamics and the vehicle kinematics, and includes friction terms...

  18. Integrating Mobile Robotics and Vision with Undergraduate Computer Science

    Science.gov (United States)

    Cielniak, G.; Bellotto, N.; Duckett, T.

    2013-01-01

    This paper describes the integration of robotics education into an undergraduate Computer Science curriculum. The proposed approach delivers mobile robotics as well as covering the closely related field of Computer Vision and is directly linked to the research conducted at the authors' institution. The paper describes the most relevant…

  19. Adaptive control of mobile robots using a neural network.

    Science.gov (United States)

    de Sousa Júnior, C; Hermerly, E M

    2001-06-01

    A Neural Network - based control approach for mobile robot is proposed. The weight adaptation is made on-line, without previous learning. Several possible situations in robot navigation are considered, including uncertainties in the model and presence of disturbance. Weight adaptation laws are presented as well as simulation results.

  20. A Contest-Oriented Project for Learning Intelligent Mobile Robots

    Science.gov (United States)

    Huang, Hsin-Hsiung; Su, Juing-Huei; Lee, Chyi-Shyong

    2013-01-01

    A contest-oriented project for undergraduate students to learn implementation skills and theories related to intelligent mobile robots is presented in this paper. The project, related to Micromouse, Robotrace (Robotrace is the title of Taiwanese and Japanese robot races), and line-maze contests was developed by the embedded control system research…

  1. Integrating Mobile Robotics and Vision with Undergraduate Computer Science

    Science.gov (United States)

    Cielniak, G.; Bellotto, N.; Duckett, T.

    2013-01-01

    This paper describes the integration of robotics education into an undergraduate Computer Science curriculum. The proposed approach delivers mobile robotics as well as covering the closely related field of Computer Vision and is directly linked to the research conducted at the authors' institution. The paper describes the most relevant details of…

  2. An Autonomous Mobile Robot for Tsukuba Challenge: JW-Future

    Science.gov (United States)

    Fujimoto, Katsuharu; Kaji, Hirotaka; Negoro, Masanori; Yoshida, Makoto; Mizutani, Hiroyuki; Saitou, Tomoya; Nakamura, Katsu

    “Tsukuba Challenge” is the only of its kind to require mobile robots to work autonomously and safely on public walkways. In this paper, we introduce the outline of our robot “JW-Future”, developed for this experiment based on an electric wheel chair. Additionally, the significance of participation to such a technical trial is discussed from the viewpoint of industries.

  3. Mars Exploration Rover mobility and robotic arm operational performance

    Science.gov (United States)

    Tunstel, Edward; Maimone, Mark; Trebi-Ollennu, Ashitey; Yen, Jeng; Petras, Richard; Wilson, Reg

    2005-01-01

    The purpose of this paper is to describe an actual instance of a practical human-robot system used on a NASA Mars rover mission that has been underway since January 2004 involving daily intercation between humans on Earth and mobile robots on Mars.

  4. Range determination for mobile robots using one omnidirectional camera

    OpenAIRE

    Millnert, Ola; Goedemé, Toon; Tuytelaars, Tinne; Van Gool, Luc; Hüntemann, Alexander; Nuttin, Marnix

    2006-01-01

    Millnert O., Goedemé T., Tuytelaars T., Van Gool L., Hüntemann A., Nuttin M., ''Range determination for mobile robots using one omnidirectional camera'', 3rd international conference on informatics in control, automation and robotics - ICINCO 2006, pp. 366-371, August 1-5, 2006, Setúbal, Portugal.

  5. Integrating Mobile Robotics and Vision with Undergraduate Computer Science

    Science.gov (United States)

    Cielniak, G.; Bellotto, N.; Duckett, T.

    2013-01-01

    This paper describes the integration of robotics education into an undergraduate Computer Science curriculum. The proposed approach delivers mobile robotics as well as covering the closely related field of Computer Vision and is directly linked to the research conducted at the authors' institution. The paper describes the most relevant details of…

  6. Speed Daemon: Experience-Based Mobile Robot Speed Scheduling

    Science.gov (United States)

    2014-10-01

    a wheeled mobile robot. Robotica , 20(2): 181–193, 2002. [7] O. Purwin and R. D‘Andrea. Trajectory generation and control for four wheeled...robot on an uneven surface. Robotica , 27(4):481–498, 2009. [9] S. Thrun, M. Montemerlo, H. Dahlkamp, D. Stavens, A. Aron, J. Diebel, P. Fong, J. Gale

  7. How mobile robots have helped at Chernobyl and other accidents

    Energy Technology Data Exchange (ETDEWEB)

    Meieran, H.B.

    1988-04-01

    The use of mobile robots at several recent accidents including Chernobyl is described. The robots assumed, with varying degrees of success, many of the tasks and missions that are normally conducted by the emergency response team. Lessons learned from the experiences, together with operational and performance problems are discussed. (U.K.).

  8. Hybrid Control Design for a Wheeled Mobile Robot

    DEFF Research Database (Denmark)

    Bak, Thomas; Bendtsen, Jan Dimon; Ravn, Anders Peter

    We present a hybrid systems solution to the problem of trajectory tracking for a four-wheel steered four-wheel driven mobile robot. The robot is modelled as a non-holonomic dynamic system subject to pure rolling, no-slip constraints. Under normal driving conditions, a nonlinear trajectory tracking...

  9. Performance Evaluation Methods for Assistive Robotic Technology

    Science.gov (United States)

    Tsui, Katherine M.; Feil-Seifer, David J.; Matarić, Maja J.; Yanco, Holly A.

    Robots have been developed for several assistive technology domains, including intervention for Autism Spectrum Disorders, eldercare, and post-stroke rehabilitation. Assistive robots have also been used to promote independent living through the use of devices such as intelligent wheelchairs, assistive robotic arms, and external limb prostheses. Work in the broad field of assistive robotic technology can be divided into two major research phases: technology development, in which new devices, software, and interfaces are created; and clinical, in which assistive technology is applied to a given end-user population. Moving from technology development towards clinical applications is a significant challenge. Developing performance metrics for assistive robots poses a related set of challenges. In this paper, we survey several areas of assistive robotic technology in order to derive and demonstrate domain-specific means for evaluating the performance of such systems. We also present two case studies of applied performance measures and a discussion regarding the ubiquity of functional performance measures across the sampled domains. Finally, we present guidelines for incorporating human performance metrics into end-user evaluations of assistive robotic technologies.

  10. Interaction dynamics of multiple mobile robots with simple navigation strategies

    Science.gov (United States)

    Wang, P. K. C.

    1989-01-01

    The global dynamic behavior of multiple interacting autonomous mobile robots with simple navigation strategies is studied. Here, the effective spatial domain of each robot is taken to be a closed ball about its mass center. It is assumed that each robot has a specified cone of visibility such that interaction with other robots takes place only when they enter its visibility cone. Based on a particle model for the robots, various simple homing and collision-avoidance navigation strategies are derived. Then, an analysis of the dynamical behavior of the interacting robots in unbounded spatial domains is made. The article concludes with the results of computer simulations studies of two or more interacting robots.

  11. Wireless Communication Enhancement Methods for Mobile Robots in Radiation Environments

    CERN Document Server

    Nattanmai Parasuraman, Ramviyas; Ferre, Manuel

    In hostile environments such as in scientific facilities where ionising radiation is a dominant hazard, reducing human interventions by increasing robotic operations are desirable. CERN, the European Organization for Nuclear Research, has around 50 km of underground scientific facilities, where wireless mobile robots could help in the operation of the accelerator complex, e.g. in conducting remote inspections and radiation surveys in different areas. The main challenges to be considered here are not only that the robots should be able to go over long distances and operate for relatively long periods, but also the underground tunnel environment, the possible presence of electromagnetic fields, radiation effects, and the fact that the robots shall in no way interrupt the operation of the accelerators. Having a reliable and robust wireless communication system is essential for successful execution of such robotic missions and to avoid situations of manual recovery of the robots in the event that the robot runs ...

  12. ARK: Autonomous mobile robot in an industrial environment

    Science.gov (United States)

    Nickerson, S. B.; Jasiobedzki, P.; Jenkin, M.; Jepson, A.; Milios, E.; Down, B.; Service, J. R. R.; Terzopoulos, D.; Tsotsos, J.; Wilkes, D.

    1994-01-01

    This paper describes research on the ARK (Autonomous Mobile Robot in a Known Environment) project. The technical objective of the project is to build a robot that can navigate in a complex industrial environment using maps with permanent structures. The environment is not altered in any way by adding easily identifiable beacons and the robot relies on naturally occurring objects to use as visual landmarks for navigation. The robot is equipped with various sensors that can detect unmapped obstacles, landmarks and objects. In this paper we describe the robot's industrial environment, it's architecture, a novel combined range and vision sensor and our recent results in controlling the robot in the real-time detection of objects using their color and in the processing of the robot's range and vision sensor data for navigation.

  13. Object detection techniques applied on mobile robot semantic navigation.

    Science.gov (United States)

    Astua, Carlos; Barber, Ramon; Crespo, Jonathan; Jardon, Alberto

    2014-04-11

    The future of robotics predicts that robots will integrate themselves more every day with human beings and their environments. To achieve this integration, robots need to acquire information about the environment and its objects. There is a big need for algorithms to provide robots with these sort of skills, from the location where objects are needed to accomplish a task up to where these objects are considered as information about the environment. This paper presents a way to provide mobile robots with the ability-skill to detect objets for semantic navigation. This paper aims to use current trends in robotics and at the same time, that can be exported to other platforms. Two methods to detect objects are proposed, contour detection and a descriptor based technique, and both of them are combined to overcome their respective limitations. Finally, the code is tested on a real robot, to prove its accuracy and efficiency.

  14. Object Detection Techniques Applied on Mobile Robot Semantic Navigation

    Directory of Open Access Journals (Sweden)

    Carlos Astua

    2014-04-01

    Full Text Available The future of robotics predicts that robots will integrate themselves more every day with human beings and their environments. To achieve this integration, robots need to acquire information about the environment and its objects. There is a big need for algorithms to provide robots with these sort of skills, from the location where objects are needed to accomplish a task up to where these objects are considered as information about the environment. This paper presents a way to provide mobile robots with the ability-skill to detect objets for semantic navigation. This paper aims to use current trends in robotics and at the same time, that can be exported to other platforms. Two methods to detect objects are proposed, contour detection and a descriptor based technique, and both of them are combined to overcome their respective limitations. Finally, the code is tested on a real robot, to prove its accuracy and efficiency.

  15. Learning User Intention in Networked Mobile Robot Control

    Institute of Scientific and Technical Information of China (English)

    2007-01-01

    Teleoperated networked robot often has unpredictable behaviors due to uncertain time delay from data transmission over Internet. The robot cannot accomplish the desired actions of the remote operator in time, which severely impairs reliability and efficiency of the robot system. This paper investigated a novel approach, learning user intention, to compensate the uncertain time delay with the autonomy of a mobile robot. The user intention to control and operate the robot was modeled and incrementally inferred based on Bayesian techniques so that the desired actions could be recognized and completed by the robot autonomously. Thus the networked robot is able to fulfill the task assigned without frequent interaction with the user, which decreases data transmission and improves the efficiency of the whole system. Experimental results show the validity and feasibility of the proposed method.

  16. Isotropic Optical Mouse Placement for Mobile Robot Velocity Estimation

    Directory of Open Access Journals (Sweden)

    Sungbok Kim

    2014-06-01

    Full Text Available This paper presents the isotropic placement of multiple optical mice for the velocity estimation of a mobile robot. It is assumed that there can be positional restriction on the installation of optical mice at the bottom of a mobile robot. First, the velocity kinematics of a mobile robot with an array of optical mice is obtained and the resulting Jacobian matrix is analysed symbolically. Second, the isotropic, anisotropic and singular optical mouse placements are identified, along with the corresponding characteristic lengths. Third, the least squares mobile robot velocity estimation from the noisy optical mouse velocity measurements is discussed. Finally, simulation results for several different placements of three optical mice are given.

  17. Mobile Robot Path Planning with Randomly Moving Obstacles and Goal

    Directory of Open Access Journals (Sweden)

    Vanitha Aenugu

    2012-03-01

    Full Text Available This article presents the dynamic path planning for a mobile robot to track a randomly moving goal with avoidance of multiple randomly moving obstacles. The main feature of the developed scheme is its capability of dealing with the situation that the paths of both the goal and the obstacles are unknown a priori to the mobile robot. A new mathematical approach that is based on the concepts of 3-D geometry is proposed to generate the path of the mobile robot. The mobile robot decides its path in real time to avoid the randomly moving obstacles and to track the randomly moving goal. The developed scheme results in faster decision-making for successful goal tracking. 3-D simulations using MATLAB validate the developed scheme.

  18. Intelligent Mobile Technologies

    Science.gov (United States)

    Alena, Rick; Gilbaugh, Bruce; Glass, Brian; Swanson, Keith (Technical Monitor)

    2000-01-01

    Testing involves commercial radio equipment approved for export and use in Canada. Testing was conducted in the Canadian High Arctic, where hilly terrain provided the worst-case testing. SFU and Canadian governmental agencies made significant technical contributions. The only technical data related to radio testing was exchanged with SFU. Test protocols are standard radio tests performed by communication technicians worldwide. The Joint Fields Operations objectives included the following: (1) to provide Internet communications services for field science work and mobile exploration systems; (2) to evaluate the range and throughput of three different medium-range radio link technologies for providing coverage of the crater area; and (3) to demonstrate collaborative software such as NetMeeting with multi-point video for exchange of scientific information between remote node and base-base camp and science centers as part of communications testing.

  19. Guiding Mobile Robot by Applying Fuzzy Approach on Sonar Sensors

    Directory of Open Access Journals (Sweden)

    Ahmed Rahman Jasim

    2010-01-01

    Full Text Available This study describes how fuzzy logic control FLC can be applied to sonars of mobile robot. The fuzzy logic approach has effects on the navigation of mobile robots in a partially known environment that are used in different industrial and society applications. The fuzzy logic provides a mechanism for combining sensor data from all sonar sensors which present different information. The FLC approach is achieved by means of Fuzzy Decision Making method type of fuzzy logic controller. The proposed controller is responsible for the obstacle avoidance of the mobile robot while traveling through a map from a home point to a goal point. The FLC is built as a subprogram based on the intelligent architecture (IA. The software program uses the Advanced Robotics Interface for Applications (ARIA, it is programmed with C++ package ( Visual C++.Net , and Networking software is used for setup Wireless TCP/IP Ethernet-to-Serial connection between robot and PC. The results show that the developed mobile robot travels successfully from one location to another and reaches its goal after avoiding all obstacles that are located in its way. The platform mobile robot is a Pioneer 3 DX that is equipped with Sonar sensors.

  20. Dynamic Modelling and Adaptive Traction Control for Mobile Robots

    Directory of Open Access Journals (Sweden)

    A. Albagul

    2008-11-01

    Full Text Available Mobile robots have received a great deal of research in recent years. A significant amount of research has been published in many aspects related to mobile robots. Most of the research is devoted to design and develop some control techniques for robot motion and path planning. A large number of researchers have used kinematic models to develop motion control strategy for mobile robots. Their argument and assumption that these models are valid if the robot has low speed, low acceleration and light load. However, dynamic modelling of mobile robots is very important as they are designed to travel at higher speed and perform heavy duty work. This paper presents and discusses a new approach to develop a dynamic model and control strategy for wheeled mobile robot which I modelled as a rigid body that roles on two wheels and a castor. The motion control strategy consists of two levels. The first level is dealing with the dynamic of the system and denoted as `Low' level controller. The second level is developed to take care of path planning and trajectory generation.

  1. Dynamic Modelling and Adaptive Traction Control for Mobile Robots

    Directory of Open Access Journals (Sweden)

    A. Albagul

    2004-09-01

    Full Text Available Mobile robots have received a great deal of research in recent years. A significant amount of research has been published in many aspects related to mobile robots. Most of the research is devoted to design and develop some control techniques for robot motion and path planning. A large number of researchers have used kinematic models to develop motion control strategy for mobile robots. Their argument and assumption that these models are valid if the robot has low speed, low acceleration and light load. However, dynamic modelling of mobile robots is very important as they are designed to travel at higher speed and perform heavy duty work. This paper presents and discusses a new approach to develop a dynamic model and control strategy for wheeled mobile robot which I modelled as a rigid body that roles on two wheels and a castor. The motion control strategy consists of two levels. The first level is dealing with the dynamic of the system and denoted as ‘Low’ level controller. The second level is developed to take care of path planning and trajectory generation.

  2. Sensor Fusion Based Model for Collision Free Mobile Robot Navigation

    OpenAIRE

    Marwah Almasri; Khaled Elleithy; Abrar Alajlan

    2015-01-01

    Autonomous mobile robots have become a very popular and interesting topic in the last decade. Each of them are equipped with various types of sensors such as GPS, camera, infrared and ultrasonic sensors. These sensors are used to observe the surrounding environment. However, these sensors sometimes fail and have inaccurate readings. Therefore, the integration of sensor fusion will help to solve this dilemma and enhance the overall performance. This paper presents a collision free mobile robot...

  3. Mobile Robot Navigation in a Corridor Using Visual Odometry

    DEFF Research Database (Denmark)

    Bayramoglu, Enis; Andersen, Nils Axel; Poulsen, Niels Kjølstad;

    2009-01-01

    Incorporation of computer vision into mobile robot localization is studied in this work. It includes the generation of localization information from raw images and its fusion with the odometric pose estimation. The technique is then implemented on a small mobile robot operating at a corridor envi...... Kalman filter as a parameter estimator is also applied to estimate odometry parameters. Experimental results are included. The robustness and the precision of the entire system is illustrated by performing simple navigation tasks....

  4. Formation control algorithm for a fleet of mobile robots

    OpenAIRE

    Cartade, P.; Lenain, R.; Thuilot, B.; Berducat, M.

    2012-01-01

    International audience; The necessity of decreasing the environmental impact of agricultural activities, while preserving the level of production to satisfy growing population demands requires investigation of new production tools. Mobile robots may constitute a promising solution, since autonomous devices may allow increasing production levels, while preserving the environment thanks to their high accuracy. In this paper, the use of several autonomous mobile robots to perform field operation...

  5. What do care robots reveal about technology?

    OpenAIRE

    2015-01-01

    Ethical issues raised by the idea of social robots that care point at a fundamental difference between man and machine. What sort of “difference” is this? We propose a semiotic view on technology to clarify the relations users have with social robots. Are these autonomous agents just promising or can we also count on them?

  6. What do care robots reveal about technology?

    NARCIS (Netherlands)

    Akker, op den Rieks

    2015-01-01

    Ethical issues raised by the idea of social robots that care point at a fundamental difference between man and machine. What sort of “difference” is this? We propose a semiotic view on technology to clarify the relations users have with social robots. Are these autonomous agents just promising or ca

  7. Robust mobile robot localization: From single-robot uncertainties to multi-robot interdependencies

    Science.gov (United States)

    Roumeliotis, Stergios I.

    2000-10-01

    Robust localization is the problem of determining the position of a mobile robot with respect to a global or local frame of reference in the presence of sensor noise, uncertainties and potential failures. Previous work in this field has used Kalman filters to reduce the effects of sensor noise on updates of the vehicle position estimate or Bayesian multiple hypothesis to resolve the ambiguity associated with the identification of detected landmarks. This dissertation introduces a general framework for localization that subsumes both approaches in a single architecture and applies it to the general problem of localizing a mobile robot within a known environment. Odometric and/or inertial sensors are fused with data obtained from exteroceptive sensors. The approach is validated by solution of the "kidnapped robot" problem. The second problem treated in this dissertation concerns the common assumption that all sensors provide information at the same rate. This assumption is relaxed by allowing high rate noisy odometric or inertial data from kinetic sensors while absolute attitude and/or position data (e.g., from sun sensors) are obtained infrequently. We address the resulting observability limitation by incorporating a Smoother in the attitude estimation algorithm. Smoothing of the attitude estimates reduces the overall uncertainty and allows for longer traverses before a new absolute orientation measurement is required. Simulation examples also show the ability of this method to increase the accuracy of robot mapping. The third problem concerns multiple robots collaborating on a single task. In prior research with a group of, say M, robots the group localization problem is usually approached by independently solving M pose estimation problems. When collaboration among robots exists, current methods usually require that at least one member of the group holds a fixed position while visual contact with all the other members of the team is maintained. If these two

  8. Biologically Inspired Object Localization for a Modular Mobile Robotic System

    Directory of Open Access Journals (Sweden)

    Zlatogor Minchev

    2005-12-01

    Full Text Available The paper considers a general model of real biological creatures' antennae, which is practically implemented and tested, over a real element of a mobile modular robotic system - the robot MR1. The last could be utilized in solving of the most classical problem in Robotics - Object Localization. The functionality of the represented sensor system is described in a new and original manner by utilizing the tool of Generalized Nets - a new likelihood for description, modelling and simulation of different objects from the Artificial Intelligence area including Robotics.

  9. Differential evolution to enhance localization of mobile robots

    DEFF Research Database (Denmark)

    Lisowski, Michal; Fan, Zhun; Ravn, Ole

    2011-01-01

    This paper focuses on the mobile robot localization problems: pose tracking, global localization and robot kidnap. Differential Evolution (DE) applied to extend Monte Carlo Localization (MCL) was investigated to better solve localization problem by increasing localization reliability and speed....... In addition, a novel mechanism for effective robot kidnap detection was proposed. Experiments were performed using computer simulations based on the odometer data and laser range finder measurements collected in advance by a robot in real-life. Experimental results showed that integrating DE enables MCL...

  10. Team-oriented programming for multiple mobile robots

    Institute of Scientific and Technical Information of China (English)

    Sun Bo; Chen Weidong; Xi Yugeng

    2005-01-01

    This paper presents a team-oriented programming method specially designed for multiple mobile robots. The team, which is a typical constitution structure in multi-robot system, forms after the user selects suitable robots, assigns their roles and sets related parameters. Team behavior module are introduced for the team-level behavior description and the temporal chain of these modules, realized by finite state automata, partitions the team tasks into discrete operating states and triggers. A graphical programming tool is designed for the team task description with visual diagrams. The real robots experiment of adaptive formation shows the system's usability and effectivity.

  11. MECHANISM DESIGN AND MOTION ANALYSIS OF A SPHERICAL MOBILE ROBOT

    Institute of Scientific and Technical Information of China (English)

    Zhan Qiang; Jia Chuan; Ma Xiaohui; Zhai Yutao

    2005-01-01

    A new spherical mobile robot BHQ-1 is designed. The spherical robot is driven by two internally mounted motors that induce the ball to move straight and turn around on a flat surface. A dynamic model of the robot is developed with Lagrange method and factors affecting the driving torque of two motors are analyzed. The relationship between the turning radius of the robot and the length of two links is discussed in order to optimize its mechanism design. Simulation and experimental results demonstrate the good controllability and motion performance of BHQ-1.

  12. Hybrid Collaborative Stereo Vision System for Mobile Robots Formation

    Directory of Open Access Journals (Sweden)

    Flavio Roberti

    2010-02-01

    Full Text Available This paper presents the use of a hybrid collaborative stereo vision system (3D-distributed visual sensing using different kinds of vision cameras for the autonomous navigation of a wheeled robot team. It is proposed a triangulation-based method for the 3D-posture computation of an unknown object by considering the collaborative hybrid stereo vision system, and this way to steer the robot team to a desired position relative to such object while maintaining a desired robot formation. Experimental results with real mobile robots are included to validate the proposed vision system.

  13. Cooperation of mobile robots for accident scene inspection

    Energy Technology Data Exchange (ETDEWEB)

    Byrne, R.H.; Harrington, J.

    1992-11-01

    A telerobotic system demonstration was developed for the Department of Energy`s Accident Response group to highlight the applications of telerobotic vehicles to accident site inspection. The proof-of- principle system employs two mobile robots, Dixie and RAYBOT, to inspect a simulated accident site. Both robots are controlled serially from a single driving station, allowing an operator to take advantage of having multiple robots at the scene. The telerobotic system is described and some of the advantages of having more than one robot present are discussed. Future plans for the system are also presented.

  14. Cooperation of mobile robots for accident scene inspection

    Energy Technology Data Exchange (ETDEWEB)

    Byrne, R.H.; Harrington, J.

    1992-01-01

    A telerobotic system demonstration was developed for the Department of Energy's Accident Response group to highlight the applications of telerobotic vehicles to accident site inspection. The proof-of- principle system employs two mobile robots, Dixie and RAYBOT, to inspect a simulated accident site. Both robots are controlled serially from a single driving station, allowing an operator to take advantage of having multiple robots at the scene. The telerobotic system is described and some of the advantages of having more than one robot present are discussed. Future plans for the system are also presented.

  15. Verification hybrid control of a wheeled mobile robot and manipulator

    Science.gov (United States)

    Muszynska, Magdalena; Burghardt, Andrzej; Kurc, Krzysztof; Szybicki, Dariusz

    2016-04-01

    In this article, innovative approaches to realization of the wheeled mobile robots and manipulator tracking are presented. Conceptions include application of the neural-fuzzy systems to compensation of the controlled system's nonlinearities in the tracking control task. Proposed control algorithms work on-line, contain structure, that adapt to the changeable work conditions of the controlled systems, and do not require the preliminary learning. The algorithm was verification on the real object which was a Scorbot - ER 4pc robotic manipulator and a Pioneer - 2DX mobile robot.

  16. Spacio-temporal situation assessment for mobile robots

    DEFF Research Database (Denmark)

    Beck, Anders Billesø; Risager, Claus; Andersen, Nils Axel

    2011-01-01

    chains are used to model the situation states and sequence, where stream clustering is used for state matching and dealing with noise. In experiments using simulated and real data, we show that we are able to learn a situation sequence for a mobile robot passing through a narrow passage. After learning......In this paper, we present a framework for situation modeling and assessment for mobile robot applications. We consider situations as data patterns that characterize unique circumstances for the robot, and represented not only by the data but also its temporal and spacial sequence. Dynamic Markov...

  17. A Mobile Service Robot for Life Science Laboratories

    Science.gov (United States)

    Schulenburg, Erik; Elkmann, Norbert; Fritzsche, Markus; Teutsch, Christian

    In this paper we presents a project that is developing a mobile service robot to assist users in biological and pharmaceutical laboratories by executing routine jobs such as filling and transporting microplates. A preliminary overview of the design of the mobile platform with a robotic arm is provided. Safety aspects are one focus of the project since the robot and humans will share a common environment. Hence, several safety sensors such as laser scanners, thermographie components and artificial skin are employed. These are described along with the approaches to object recognition.

  18. Recursive Backstepping Stabilization of a Wheeled Mobile Robot

    Directory of Open Access Journals (Sweden)

    Faical Mnif

    2008-11-01

    Full Text Available This research is aimed to the development of a dynamic control to enhance the performance of the existing dynamic controllers for mobile robots. System dynamics of the car-like robot with nonholonomic constraints were employed. A Backstepping approach for the design of discontinuous state feedback controller is used for the design of the controller. It is shown that the origin of the closed loop system can be made stable in the sense of Lyapunov. The control design is made on the basis of a suitable Lyapunov function candidate. The effectiveness of the proposed approach is tested through simulation on a car-like vehicle mobile robot.

  19. Curvature Optical Fiber Whiskers for Mobile Robot Guidance

    Institute of Scientific and Technical Information of China (English)

    2001-01-01

    A novel optical fiber tactile sensory system is proposed forobstacle avoidance of mobile robot. The principle of this whisker-like tactile sensor is based on the geometric curvature changes of the optical fiber, which modulate the optical fiber′s light output. With high compliance of plastic optical fiber, the whiskers can produce only small flexing force upon mechanical contact with an obstacle. It can produce reliable proximity signals in extended tactile range, which can be translated into a larger stopping distance for the mobile robot. This sensor is lightweight, and of low cost to allow as many sensor, as necessary to be mounted on a robot.

  20. Recursive Backstepping Stabilization of a Wheeled Mobile Robot

    Directory of Open Access Journals (Sweden)

    Faical Mnif

    2004-12-01

    Full Text Available This research is aimed to the development of a dynamic control to enhance the performance of the existing dynamic controllers for mobile robots. System dynamics of the car-like robot with nonholonomic constraints were employed. A Backstepping approach for the design of discontinuous state feedback controller is used for the design of the controller. It is shown that the origin of the closed loop system can be made stable in the sense of Lyapunov. The control design is made on the basis of a suitable Lyapunov function candidate. The effectiveness of the proposed approach is tested through simulation on a car-like vehicle mobile robot.

  1. Designing a Miniature Wheel Arrangement for Mobile Robot Platforms

    CERN Document Server

    Kayani, Saheeb Ahmed

    2011-01-01

    In this research report details of design of a miniature wheel arrangement are presented. This miniature wheel arrangement is essentially a direction control mechanism intended for use on a mobile robot platform or base. The design is a specific one employing a stepper motor as actuator and as described can only be used on a certain type of wheeled robots. However as a basic steering control element, more than one of these miniature wheel arrangements can be grouped together to implement more elaborate and intelligent direction control schemes on varying configurations of wheeled mobile robot platforms.

  2. Sensor Fusion Based Model for Collision Free Mobile Robot Navigation.

    Science.gov (United States)

    Almasri, Marwah; Elleithy, Khaled; Alajlan, Abrar

    2015-12-26

    Autonomous mobile robots have become a very popular and interesting topic in the last decade. Each of them are equipped with various types of sensors such as GPS, camera, infrared and ultrasonic sensors. These sensors are used to observe the surrounding environment. However, these sensors sometimes fail and have inaccurate readings. Therefore, the integration of sensor fusion will help to solve this dilemma and enhance the overall performance. This paper presents a collision free mobile robot navigation based on the fuzzy logic fusion model. Eight distance sensors and a range finder camera are used for the collision avoidance approach where three ground sensors are used for the line or path following approach. The fuzzy system is composed of nine inputs which are the eight distance sensors and the camera, two outputs which are the left and right velocities of the mobile robot's wheels, and 24 fuzzy rules for the robot's movement. Webots Pro simulator is used for modeling the environment and the robot. The proposed methodology, which includes the collision avoidance based on fuzzy logic fusion model and line following robot, has been implemented and tested through simulation and real time experiments. Various scenarios have been presented with static and dynamic obstacles using one robot and two robots while avoiding obstacles in different shapes and sizes.

  3. Concept of Intelligent Mechanical Design for Autonomous Mobile Robots

    Institute of Scientific and Technical Information of China (English)

    Amir A. F. Nassiraei; Kazuo Ishii

    2007-01-01

    The concept of Intelligent Mechanical Design (IMD) is presented to show how a mechanical structure can be designed to affect robot controllability, simplification and task performance. Exploring this concept produces landmarks in the territory of mechanical robot design in the form of seven design principles. The design principles, which we call the Mecha-Telligence Principles (MTP), provide guidance on how to design mechanics for autonomous mobile robots. These principles guide us to ask the right questions when investigating issues concerning self-controllable, reliable, feasible, and compatible mechanics for autonomous mobile robots. To show how MTP can be applied in the design process we propose a novel methodology, named as Mecha-Telligence Methodology (MTM). Mechanical design by the proposed methodology is based on preference classification of the robot specification described by interaction of the robot with its environment and the physical parameters of the robot mechatronics. After defining new terms, we investigate the feasibility of the proposed methodology to the mechanical design of an autonomous mobile sewer inspection robot. In this industrial project we show how a passive-active intelligent moving mechanism can be designed using the MTM and employed in the field.

  4. Real Time Mapping and Dynamic Navigation for Mobile Robots

    Directory of Open Access Journals (Sweden)

    Maki K. Habib

    2008-11-01

    Full Text Available This paper discusses the importance, the complexity and the challenges of mapping mobile robot?s unknown and dynamic environment, besides the role of sensors and the problems inherited in map building. These issues remain largely an open research problems in developing dynamic navigation systems for mobile robots. The paper presenst the state of the art in map building and localization for mobile robots navigating within unknown environment, and then introduces a solution for the complex problem of autonomous map building and maintenance method with focus on developing an incremental grid based mapping technique that is suitable for real-time obstacle detection and avoidance. In this case, the navigation of mobile robots can be treated as a problem of tracking geometric features that occur naturally in the environment of the robot. The robot maps its environment incrementally using the concept of occupancy grids and the fusion of multiple ultrasonic sensory information while wandering in it and stay away from all obstacles. To ensure real-time operation with limited resources, as well as to promote extensibility, the mapping and obstacle avoidance modules are deployed in parallel and distributed framework. Simulation based experiments has been conducted and illustrated to show the validity of the developed mapping and obstacle avoidance approach.

  5. Towards Principled Experimental Study of Autonomous Mobile Robots

    Science.gov (United States)

    Gat, Erann

    1995-01-01

    We review the current state of research in autonomous mobile robots and conclude that there is an inadequate basis for predicting the reliability and behavior of robots operating in unengineered environments. We present a new approach to the study of autonomous mobile robot performance based on formal statistical analysis of independently reproducible experiments conducted on real robots. Simulators serve as models rather than experimental surrogates. We demonstrate three new results: 1) Two commonly used performance metrics (time and distance) are not as well correlated as is often tacitly assumed. 2) The probability distributions of these performance metrics are exponential rather than normal, and 3) a modular, object-oriented simulation accurately predicts the behavior of the real robot in a statistically significant manner.

  6. Laser-Camera Vision Sensing for Spacecraft Mobile Robot Navigation

    Science.gov (United States)

    Maluf, David A.; Khalil, Ahmad S.; Dorais, Gregory A.; Gawdiak, Yuri

    2002-01-01

    The advent of spacecraft mobile robots-free-flyng sensor platforms and communications devices intended to accompany astronauts or remotely operate on space missions both inside and outside of a spacecraft-has demanded the development of a simple and effective navigation schema. One such system under exploration involves the use of a laser-camera arrangement to predict relative positioning of the mobile robot. By projecting laser beams from the robot, a 3D reference frame can be introduced. Thus, as the robot shifts in position, the position reference frame produced by the laser images is correspondingly altered. Using normalization and camera registration techniques presented in this paper, the relative translation and rotation of the robot in 3D are determined from these reference frame transformations.

  7. Technological applications of robotics in mining

    Energy Technology Data Exchange (ETDEWEB)

    Konyukh, V. [Institute of Coal, Kemerovo (Russian Federation)

    1996-12-31

    There are the objective preconditions for use of automated multifunctional machines in mining. Some methods for evaluation of mining robotisability are offered. Functional modeling and Petri nets were used for synthesis and dynamic simulation of mining robotics systems. It enables to construct some robotics-based technologies for underground mining. The trial of rail robocar and teleloader in the Siberian ore-mines showed it is necessary to have a post-learning of control system. The created database about 90 applications of robotics in coal and other mining is used for choice and synthesis of robotized technologies. There are 6 direct and 8 indirect sources of robotics efficiency in mining, that are evaluated total by correlation between materialized and present labor expenses. 4 refs., 7 figs.

  8. Fuzzy Behaviors for Control of Mobile Robots

    Directory of Open Access Journals (Sweden)

    Saleh Zein-Sabatto

    2003-02-01

    Full Text Available In this research work, an RWI B-14 robot has been used as the development platform to embody some basic behaviors that can be combined to build more complex robotics behaviors. Emergency, avoid-obstacle, left wall- following, right wall-following, and move-to-point behaviors have been designed and embodied as basic robot behaviors. The basic behaviors developed in this research are designed based on fuzzy control technique and are integrated and coordinated to from complex robotics system. More behaviors can be added into the system as needed. A robot task can be defined by the user and executed by the intelligent robot control system. Testing results showed that fuzzy behaviors made the robot move intelligently and adapt to changes in its environment.

  9. Visual world perception modeling and control of cooperative mobile robots

    Science.gov (United States)

    Shirkhodaie, Amir

    2003-10-01

    There has been a great interest in the recent years in visual coordination and target tracking for mobile robots cooperating in unstructured environments. This paper describes visual servo control techniques suitable for intelligent task planning of cooperative robots operating in unstructured environment. In this paper, we have considered a team of semi-autonomous robots controlled by a remote supervisory control system. We have presented an algorithm for visual position tracking of individual cooperative robots within their working environment. Initially, we present a technique suitable for visual servoing of a robot toward its landmark targets. Secondly, we present an image-processing technique that utilizes images from a remote surveillance camera for localization of the robots within the operational environment. In this algorithm, the surveillance camera can be either stationary or mobile. The supervisor control system keeps tracks of relative locations of individual robots and utilizes relative coordinate information of the robots to plan their cooperative activities. We presented some results of this research effort that illustrates effectiveness of the proposed algorithms for cooperative robotic systems visual team working and target tracking.

  10. A 3-D Miniature LIDAR System for Mobile Robot Navigation Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Future lunar initiatives will demand sophisticated operation of mobile robotics platforms. In particular, lunar site operations will benefit from robots, both...

  11. Dual adaptive dynamic control of mobile robots using neural networks.

    Science.gov (United States)

    Bugeja, Marvin K; Fabri, Simon G; Camilleri, Liberato

    2009-02-01

    This paper proposes two novel dual adaptive neural control schemes for the dynamic control of nonholonomic mobile robots. The two schemes are developed in discrete time, and the robot's nonlinear dynamic functions are assumed to be unknown. Gaussian radial basis function and sigmoidal multilayer perceptron neural networks are used for function approximation. In each scheme, the unknown network parameters are estimated stochastically in real time, and no preliminary offline neural network training is used. In contrast to other adaptive techniques hitherto proposed in the literature on mobile robots, the dual control laws presented in this paper do not rely on the heuristic certainty equivalence property but account for the uncertainty in the estimates. This results in a major improvement in tracking performance, despite the plant uncertainty and unmodeled dynamics. Monte Carlo simulation and statistical hypothesis testing are used to illustrate the effectiveness of the two proposed stochastic controllers as applied to the trajectory-tracking problem of a differentially driven wheeled mobile robot.

  12. Hands-free operation of a small mobile robot

    Energy Technology Data Exchange (ETDEWEB)

    AMAI,WENDY A.; FAHRENHOLTZ,JILL C.; LEGER,CHRIS L.

    2000-03-14

    The Intelligent Systems and Robotics Center of Sandia National laboratories has an ongoing research program in advanced user interfaces. As part of this research, promising new transduction devices, particularly hands-free devices, are being explored for the control of mobile and floor-mounted robotic systems. Brainwave control has been successfully demonstrated by other researchers in a variety of fields. In the research described here, Sandia developed and demonstrated a proof-of-concept brainwave-controlled mobile robot system. Preliminary results were encouraging. Additional work required to turn this into a reliable. fieldable system for mobile robotic control is identified. Used in conjunction with other controls, brainwave control could be an effective control method in certain circumstances.

  13. Neural Behavior Chain Learning of Mobile Robot Actions

    Directory of Open Access Journals (Sweden)

    Lejla Banjanovic-Mehmedovic

    2012-01-01

    Full Text Available This paper presents a visual/motor behavior learning approach, based on neural networks. We propose Behavior Chain Model (BCM in order to create a way of behavior learning. Our behavior-based system evolution task is a mobile robot detecting a target and driving/acting towards it. First, the mapping relations between the image feature domain of the object and the robot action domain are derived. Second, a multilayer neural network for offline learning of the mapping relations is used. This learning structure through neural network training process represents a connection between the visual perceptions and motor sequence of actions in order to grip a target. Last, using behavior learning through a noticed action chain, we can predict mobile robot behavior for a variety of similar tasks in similar environment. Prediction results suggest that the methodology is adequate and could be recognized as an idea for designing different mobile robot behaviour assistance.

  14. Low-level stored waste inspection using mobile robots

    Energy Technology Data Exchange (ETDEWEB)

    Byrd, J.S.; Pettus, R.O.

    1996-06-01

    A mobile robot inspection system, ARIES (Autonomous Robotic Inspection Experimental System), has been developed for the U.S. Department of Energy to replace human inspectors in the routine, regulated inspection of radioactive waste stored in drums. The robot will roam the three-foot aisles of drums, stacked four high, making decisions about the surface condition of the drums and maintaining a database of information about each drum. A distributed system of onboard and offboard computers will provide versatile, friendly control of the inspection process. This mobile robot system, based on a commercial mobile platform, will improve the quality of inspection, generate required reports, and relieve human operators from low-level radioactive exposure. This paper describes and discusses primarily the computer and control processes for the system.

  15. Human Robotic Systems (HRS): Extreme Terrain Mobility Element

    Data.gov (United States)

    National Aeronautics and Space Administration — During 2014, the Extreme Terrain Mobility project element is developing five technologies:Exoskeleton Development for ISS EvaluationExtreme Terrain Mobility...

  16. Online Tracking Control of Autonomous Mobile Robot Utilizing Optimal Formulation

    Science.gov (United States)

    Hirakoso, Nobuto; Takizawa, Takahiro; Ishihara, Masaaki; Aoki, Kouzou

    In this study, the objective is to build a wheeled mobile robot which can move independently avoiding obstacles. To move autonomously, this robot is enabled to detect obstacles' shapes and conduct self-localization. Also, this robot can move by tracking trajectories designed by the robot itself, based on the information about the obstacles' shapes and the robot's position and attitude angle. The optimal trajectories which lead the robot to its destination are designed by using a unique optimization method. As convergent calculation is performed by setting the variables within a certain range in this proposed optimization method, the optimal solutions can be obtained approximately, even in cases where there is a difference between the number of input and output variables, and when the nonlinearity is strong with restraint conditions. In this thesis, the effectiveness of the optimal track designing method used is proven and the method deemed as appropriate.

  17. Google glass-based remote control of a mobile robot

    Science.gov (United States)

    Yu, Song; Wen, Xi; Li, Wei; Chen, Genshe

    2016-05-01

    In this paper, we present an approach to remote control of a mobile robot via a Google Glass with the multi-function and compact size. This wearable device provides a new human-machine interface (HMI) to control a robot without need for a regular computer monitor because the Google Glass micro projector is able to display live videos around robot environments. In doing it, we first develop a protocol to establish WI-FI connection between Google Glass and a robot and then implement five types of robot behaviors: Moving Forward, Turning Left, Turning Right, Taking Pause, and Moving Backward, which are controlled by sliding and clicking the touchpad located on the right side of the temple. In order to demonstrate the effectiveness of the proposed Google Glass-based remote control system, we navigate a virtual Surveyor robot to pass a maze. Experimental results demonstrate that the proposed control system achieves the desired performance.

  18. How do walkers avoid a mobile robot crossing their way?

    Science.gov (United States)

    Vassallo, Christian; Olivier, Anne-Hélène; Souères, Philippe; Crétual, Armel; Stasse, Olivier; Pettré, Julien

    2017-01-01

    Robots and Humans have to share the same environment more and more often. In the aim of steering robots in a safe and convenient manner among humans it is required to understand how humans interact with them. This work focuses on collision avoidance between a human and a robot during locomotion. Having in mind previous results on human obstacle avoidance, as well as the description of the main principles which guide collision avoidance strategies, we observe how humans adapt a goal-directed locomotion task when they have to interfere with a mobile robot. Our results show differences in the strategy set by humans to avoid a robot in comparison with avoiding another human. Humans prefer to give the way to the robot even when they are likely to pass first at the beginning of the interaction.

  19. How do walkers avoid a mobile robot crossing their way?

    CERN Document Server

    Vassallo, Christian; Souères, Philippe; Crétual, Armel; Stasse, Olivier; Pettré, Julien

    2016-01-01

    Robots and Humans have to share the same environment more and more often. In the aim of steering robots in a safe and convenient manner among humans it is required to understand how humans interact with them. This work focuses on collision avoidance between a human and a robot during locomotion. Having in mind previous results on human obstacle avoidance, as well as the description of the main principles which guide collision avoidance strategies, we observe how humans adapt a goal-directed locomotion task when they have to interfere with a mobile robot. Our results show differences in the strategy set by humans to avoid a robot in comparison with avoiding another human. Humans prefer to give the way to the robot even when they are likely to pass first at the beginning of the interaction.

  20. Object guided autonomous exploration for mobile robots in indoor environments

    Science.gov (United States)

    Nieto-Granda, Carlos; Choudhary, Siddarth; Rogers, John G.; Twigg, Jeff; Murali, Varun; Christensen, Henrik I.

    2014-06-01

    Autonomous mobile robotic teams are increasingly used in exploration of indoor environments. Accurate modeling of the world around the robot and describing the interaction of the robot with the world greatly increases the ability of the robot to act autonomously. This paper demonstrates the ability of autonomous robotic teams to find objects of interest. A novel feature of our approach is the object discovery and the use of it to augment the mapping and navigation process. The generated map can then be decomposed into semantic regions while also considering the distance and line of sight to anchor points. The advantage of this approach is that the robot can return a dense map of the region around an object of interest. The robustness of this approach is demonstrated in indoor environments with multiple platforms with the objective of discovering objects of interest.

  1. Wireless Power System Design for Mobile Robots used in Nuclear Power Plants

    Energy Technology Data Exchange (ETDEWEB)

    Choi, S. Y.; Yoo, S. J.; Lee, Kun J.; Rim, C. T. [Korea Advanced Institute of Science and Technology, Daejeon (Korea, Republic of)

    2012-05-15

    The robots used in nuclear power plants (NPP) have received much attention in recent years due to the Fukushima nuclear accident, which is considered as one of the worst nuclear disasters. In general, the NPP robots can play important roles in fuel exchange, repair work, radiation monitoring, rescue, and scouting out NPP. Under these conditions, human access to NPP during normal and emergency operations is strictly restricted due to the risks of high level radiation and contamination. However, in practice, robots have not been widely used in NPP because of the following limitations. First, the NPP robots cannot be of multi-purpose use because of their mission complexity and uniqueness. Second, the demand of the NPP robots is low due to the limited number of NPP over the world. Third, the NPP robots developed so far have no enough confidence in spite of the improvement of robot technology. Lastly, the NPP robots cannot carry on their mission continuously due to the limited energy capacity of the battery: mobile robots should stop working every two hours to recharge their batteries and spend least twenty minutes. As the solutions for this 'energy hungry' problem, high capacity batteries, quick battery chargers, power cables, and internal combustion engines were proposed; however, they still have the problems such as limited mission time and range, frequent recharging, or exhausting emission and noise. In this paper, the wireless power transfer systems (WPTS) for NPP robots are proposed. This technology can let NPP robots free from mission time and range limits, and exhausting emission. The requirements for the NPP robots are newly proposed, and two types of WPTS, roaming and railway, are suggested in this paper

  2. Why to use mobile technology?

    OpenAIRE

    Bolat, Elvira

    2014-01-01

    No holistic portrayal exists to map and discuss values deriving from mobile technology use. This empirical paper addresses this gap. To address research purpose adapted grounded theory approach is applied to collect and analyse in-depth interviews with twenty-eight SME managers. This study concludes that mobile technology represents novel and unique category of technology. Whether MT is a simple mean to advanced communication with no physical boundaries of time and location or a business tool...

  3. Wireless Communication for Mobile Robots Using Commercial System

    Directory of Open Access Journals (Sweden)

    Humairah Mansor

    2012-01-01

    Full Text Available Commercial mobile robots provide good platform for the  study and development of algorithms for wireless mobile communication of devices. E-Puck is a good example, with wireless communication utilising Bluetooth among others. However, the limitations of Bluetooth communications lead to the investigation of using X-Bee module as an alternative. This is to allow the E-Puck to communicate with a computer and other mobile robots using specified Zigbee protocol. This paper presents X-Bee module as wireless communication method between computer and E-Pucks and the way they exchange data.

  4. Building Integrated Mobile Robots for Soccer Competition

    Institute of Scientific and Technical Information of China (English)

    2001-01-01

    Robot soccer competition provides an excellent opportunity for robotics research. We have built a soccer robot system to participate in internal and oversea matches. Firstly, we propose a new learning control scheme adaptive PID learning controller. It means to overcome the drawbacks of the conventional PID type control methods. Secondly, we introduce our vision recognition algorithm. It remarkably increases the speed of recognition. Finally, we refer the communication system. We adopt bulletin board system to prevent communication confusion.

  5. Navigation Algorithm Using Fuzzy Control Method in Mobile Robotics

    Directory of Open Access Journals (Sweden)

    Cviklovič Vladimír

    2016-03-01

    Full Text Available The issue of navigation methods is being continuously developed globally. The aim of this article is to test the fuzzy control algorithm for track finding in mobile robotics. The concept of an autonomous mobile robot EN20 has been designed to test its behaviour. The odometry navigation method was used. The benefits of fuzzy control are in the evidence of mobile robot’s behaviour. These benefits are obtained when more physical variables on the base of more input variables are controlled at the same time. In our case, there are two input variables - heading angle and distance, and two output variables - the angular velocity of the left and right wheel. The autonomous mobile robot is moving with human logic.

  6. Teleoperated mobile robot (KAEROT) for inspection in nuclear facilities

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Byung-Soo; Kim, Chang-Hoi; Hwang, Suk-Young; Kim, Seung-Ho; Lee, Jong-Min [Korea Atomic Energy Research Inst., Taejon (Korea, Republic of)

    1994-12-31

    A teleoperated mobile robot, named as KAEROT, has been developed for inspection and maintenance in nuclear facilities. It is composed of the planetary wheel-type mobile unit and 5 DOF manipulator one. The mobile unit is able to climb up and down stairs with high stability. This paper presents the kinematic analysis of KAEROT and the stair climbing algorithm. The proposed algorithm consists of two parts; one is to generate the moving path, and the other is to calculate the angular velocity of each wheel to follow up the generated reference path. Simulations and experiments on the irregular stairs have been carried out with the developed mobile robot. The proposed algorithm is proved to be very effective for inspection in nuclear facilities. The inclination angle of robot is maintained below 30.8deg while it is climbing up the stairs of a slope of 25deg. (author).

  7. Motion generation of peristaltic mobile robot with particle swarm optimization algorithm

    Science.gov (United States)

    Homma, Takahiro; Kamamichi, Norihiro

    2015-03-01

    In developments of robots, bio-mimetics is attracting attention, which is a technology for the design of the structure and function inspired from biological system. There are a lot of examples of bio-mimetics in robotics such as legged robots, flapping robots, insect-type robots, fish-type robots. In this study, we focus on the motion of earthworm and aim to develop a peristaltic mobile robot. The earthworm is a slender animal moving in soil. It has a segmented body, and each segment can be shorted and lengthened by muscular actions. It can move forward by traveling expanding motions of each segment backward. By mimicking the structure and motion of the earthworm, we can construct a robot with high locomotive performance against an irregular ground or a narrow space. In this paper, to investigate the motion analytically, a dynamical model is introduced, which consist of a series-connected multi-mass model. Simple periodic patterns which mimic the motions of earthworms are applied in an open-loop fashion, and the moving patterns are verified through numerical simulations. Furthermore, to generate efficient motion of the robot, a particle swarm optimization algorithm, one of the meta-heuristic optimization, is applied. The optimized results are investigated by comparing to simple periodic patterns.

  8. A Mobile Robot for Small Object Handling

    Science.gov (United States)

    Fišer, Ondřej; Szűcsová, Hana; Grimmer, Vladimír; Popelka, Jan; Vonásek, Vojtěch; Krajník, Tomáš; Chudoba, Jan

    The aim of this paper is to present an intelligent autonomous robot capable of small object manipulation. The design of the robot is influenced mainly by the rules of EUROBOT 09 competition. In this challenge, two robots pick up objects scattered on a planar rectangular playfield and use these elements to build models of Hellenistic temples. This paper describes the robot hardware, i.e. electro-mechanics of the drive, chassis and manipulator, as well as the software, i.e. localization, collision avoidance, motion control and planning algorithms.

  9. On-Line Method and Apparatus for Coordinated Mobility and Manipulation of Mobile Robots

    Science.gov (United States)

    Seraji, Homayoun (Inventor)

    1996-01-01

    A simple and computationally efficient approach is disclosed for on-line coordinated control of mobile robots consisting of a manipulator arm mounted on a mobile base. The effect of base mobility on the end-effector manipulability index is discussed. The base mobility and arm manipulation degrees-of-freedom are treated equally as the joints of a kinematically redundant composite robot. The redundancy introduced by the mobile base is exploited to satisfy a set of user-defined additional tasks during the end-effector motion. A simple on-line control scheme is proposed which allows the user to assign weighting factors to individual degrees-of-mobility and degrees-of-manipulation, as well as to each task specification. The computational efficiency of the control algorithm makes it particularly suitable for real-time implementations. Four case studies are discussed in detail to demonstrate the application of the coordinated control scheme to various mobile robots.

  10. Constrained motion model of mobile robots and its applications.

    Science.gov (United States)

    Zhang, Fei; Xi, Yugeng; Lin, Zongli; Chen, Weidong

    2009-06-01

    Target detecting and dynamic coverage are fundamental tasks in mobile robotics and represent two important features of mobile robots: mobility and perceptivity. This paper establishes the constrained motion model and sensor model of a mobile robot to represent these two features and defines the k -step reachable region to describe the states that the robot may reach. We show that the calculation of the k-step reachable region can be reduced from that of 2(k) reachable regions with the fixed motion styles to k + 1 such regions and provide an algorithm for its calculation. Based on the constrained motion model and the k -step reachable region, the problems associated with target detecting and dynamic coverage are formulated and solved. For target detecting, the k-step detectable region is used to describe the area that the robot may detect, and an algorithm for detecting a target and planning the optimal path is proposed. For dynamic coverage, the k-step detected region is used to represent the area that the robot has detected during its motion, and the dynamic-coverage strategy and algorithm are proposed. Simulation results demonstrate the efficiency of the coverage algorithm in both convex and concave environments.

  11. RoboTable: An Infrastructure for Intuitive Interaction with Mobile Robots in a Mixed-Reality Environment

    Directory of Open Access Journals (Sweden)

    Haipeng Mi

    2012-01-01

    Full Text Available This paper presents the design, development, and testing of a tabletop interface called RoboTable, which is an infrastructure supporting intuitive interaction with both mobile robots and virtual components in a mixed-reality environment. With a flexible software toolkit and specifically developed robots, the platform enables various modes of interaction with mobile robots. Using this platform, prototype applications are developed for two different application domains: RoboPong investigates the efficiency of the RoboTable system in game applications, and ExploreRobot explores the possibility of using robots and intuitive interaction to enhance learning.

  12. A mobile autonomous robot for radiological surveys

    Energy Technology Data Exchange (ETDEWEB)

    Dudar, A.M.; Wagner, D.G.; Teese, G.D.

    1992-01-01

    The Robotics Development Group at the Savannah River Site is developing an autonomous robot (SIMON) to perform radiological surveys of potentially contaminated floors. The robot scans floors at a speed of one-inch/second and stops, sounds an alarm, and flashes lights when contamination in a certain area is detected. The contamination of interest here is primarily alpha and beta-gamma. The robot, a Cybermotion K2A base, is radio controlled, uses dead reckoning to determine vehicle position, and docks with a charging station to replenish its batteries and calibrate its position. It uses an ultrasonic ranging system for collision avoidance. In addition, two safety bumpers located in the front and the back of the robot will stop the robots motion when they are depressed. Paths for the robot are preprogrammed and the robots motion can be monitored on a remote screen which shows a graphical map of the environment. The radiation instrument being used is an Eberline RM22A monitor. This monitor is microcomputer based with a serial I/0 interface for remote operation. Up to 30 detectors may be configured with the RM22A.

  13. A mobile autonomous robot for radiological surveys

    Energy Technology Data Exchange (ETDEWEB)

    Dudar, A.M.; Wagner, D.G.; Teese, G.D.

    1992-10-01

    The Robotics Development Group at the Savannah River Site is developing an autonomous robot (SIMON) to perform radiological surveys of potentially contaminated floors. The robot scans floors at a speed of one-inch/second and stops, sounds an alarm, and flashes lights when contamination in a certain area is detected. The contamination of interest here is primarily alpha and beta-gamma. The robot, a Cybermotion K2A base, is radio controlled, uses dead reckoning to determine vehicle position, and docks with a charging station to replenish its batteries and calibrate its position. It uses an ultrasonic ranging system for collision avoidance. In addition, two safety bumpers located in the front and the back of the robot will stop the robots motion when they are depressed. Paths for the robot are preprogrammed and the robots motion can be monitored on a remote screen which shows a graphical map of the environment. The radiation instrument being used is an Eberline RM22A monitor. This monitor is microcomputer based with a serial I/0 interface for remote operation. Up to 30 detectors may be configured with the RM22A.

  14. A path following algorithm for mobile robots

    NARCIS (Netherlands)

    Bakker, T.; Asselt, van C.J.; Bontsema, J.; Müller, J.; Straten, van G.

    2010-01-01

    This paper considers path following control for a robotic platform. The vehicle used for the experiments is a specially designed robotic platform for performing autonomous weed control. The platform is four-wheel steered and four-wheel driven. A diesel engine powers the wheels via a hydraulic transm

  15. A path following algorithm for mobile robots

    NARCIS (Netherlands)

    Bakker, T.; Asselt, van C.J.; Bontsema, J.; Müller, J.; Straten, van G.

    2010-01-01

    This paper considers path following control for a robotic platform. The vehicle used for the experiments is a specially designed robotic platform for performing autonomous weed control. The platform is four-wheel steered and four-wheel driven. A diesel engine powers the wheels via a hydraulic

  16. Evaluation of a Home Biomonitoring Autonomous Mobile Robot

    Directory of Open Access Journals (Sweden)

    Enrique Dorronzoro Zubiete

    2016-01-01

    Full Text Available Increasing population age demands more services in healthcare domain. It has been shown that mobile robots could be a potential solution to home biomonitoring for the elderly. Through our previous studies, a mobile robot system that is able to track a subject and identify his daily living activities has been developed. However, the system has not been tested in any home living scenarios. In this study we did a series of experiments to investigate the accuracy of activity recognition of the mobile robot in a home living scenario. The daily activities tested in the evaluation experiment include watching TV and sleeping. A dataset recorded by a distributed distance-measuring sensor network was used as a reference to the activity recognition results. It was shown that the accuracy is not consistent for all the activities; that is, mobile robot could achieve a high success rate in some activities but a poor success rate in others. It was found that the observation position of the mobile robot and subject surroundings have high impact on the accuracy of the activity recognition, due to the variability of the home living daily activities and their transitional process. The possibility of improvement of recognition accuracy has been shown too.

  17. Immune modelling and programming of a mobile robot demo

    Institute of Scientific and Technical Information of China (English)

    GONG Tao; CAI Zi-xing; HE Han-gen

    2006-01-01

    An artificial immune system was modelled with self/non-self selection to overcome abnormity in a mobile robot demo. The immune modelling includes the innate immune modelling and the adaptive immune modelling. The self/non-self selection includes detection and recognition, and the self/non-self detection is based on the normal model of the demo. After the detection, the non-self recognition is based on learning unknown non-self for the adaptive immunization. The learning was designed on the neural network or on the learning mechanism from examples. The last step is elimination of all the non-self and failover of the demo. The immunization of the mobile robot demo is programmed with Java to test effectiveness of the approach. Some worms infected the mobile robot demo, and caused the abnormity. The results of the immunization simulations show that the immune program can detect 100% worms,recognize all known Worms and most unknown worms, and eliminate the worms. Moreover, the damaged files of the mobile robot demo can all be repaired through the normal model and immunization. Therefore, the immune modelling of the mobile robot demo is effective and programmable in some anti-worms and abnormity detection applications.

  18. Exploration and Navigation for Mobile Robots With Perceptual Limitations

    Directory of Open Access Journals (Sweden)

    Eduardo F. Morales

    2008-11-01

    Full Text Available To learn a map of an environment a mobile robot has to explore its workspace using its sensors. Sensors are noisy and have perceptual limitations that must be considered while learning a map. This paper considers a mobile robot with sensor perceptual limitations and introduces a new method for exploring and navigating autonomously in indoor environments. To minimize the risk of collisions as well as to not exceed the range of sensors, we introduce the concept of a travel space as a way to associate costs to grid cells of the map, based on distances to obstacles. During exploration the mobile robot minimizes its movements, including rotations, to reach the nearest unexplored region of the environment, using a dynamic programming algorithm. Once the exploration ends, the travel space is used to form a roadmap, a net of safe roads that the mobile robot can use for navigation. These exploration and navigation method are tested using a simulated and a real mobile robot with promising results.

  19. Robotic inspection technology-process an toolbox

    Energy Technology Data Exchange (ETDEWEB)

    Hermes, Markus [ROSEN Group (United States). R and D Dept.

    2005-07-01

    Pipeline deterioration grows progressively with ultimate aging of pipeline systems (on-plot and cross country). This includes both, very localized corrosion as well as increasing failure probability due to fatigue cracking. Limiting regular inspecting activities to the 'scrapable' part of the pipelines only, will ultimately result into a pipeline system with questionable integrity. The confidence level in the integrity of these systems will drop below acceptance levels. Inspection of presently un-inspectable sections of the pipeline system becomes a must. This paper provides information on ROSEN's progress on the 'robotic inspection technology' project. The robotic inspection concept developed by ROSEN is based on a modular toolbox principle. This is mandatory. A universal 'all purpose' robot would not be reliable and efficient in resolving the postulated inspection task. A preparatory Quality Function Deployment (QFD) analysis is performed prior to the decision about the adequate robotic solution. This enhances the serviceability and efficiency of the provided technology. The word 'robotic' can be understood in its full meaning of Recognition - Strategy - Motion - Control. Cooperation of different individual systems with an established communication, e.g. utilizing Bluetooth technology, support the robustness of the ROSEN robotic inspection approach. Beside the navigation strategy, the inspection strategy is also part of the QFD process. Multiple inspection technologies combined on a single carrier or distributed across interacting container must be selected with a clear vision of the particular goal. (author)

  20. A Remote Lab for Experiments with a Team of Mobile Robots

    Directory of Open Access Journals (Sweden)

    Marco Casini

    2014-09-01

    Full Text Available In this paper, a remote lab for experimenting with a team of mobile robots is presented. Robots are built with the LEGO Mindstorms technology and user-defined control laws can be directly coded in the Matlab programming language and validated on the real system. The lab is versatile enough to be used for both teaching and research purposes. Students can easily go through a number of predefined mobile robotics experiences without having to worry about robot hardware or low-level programming languages. More advanced experiments can also be carried out by uploading custom controllers. The capability to have full control of the vehicles, together with the possibility to define arbitrarily complex environments through the definition of virtual obstacles, makes the proposed facility well suited to quickly test and compare different control laws in a real-world scenario. Moreover, the user can simulate the presence of different types of exteroceptive sensors on board of the robots or a specific communication architecture among the agents, so that decentralized control strategies and motion coordination algorithms can be easily implemented and tested. A number of possible applications and real experiments are presented in order to illustrate the main features of the proposed mobile robotics remote lab.

  1. A remote lab for experiments with a team of mobile robots.

    Science.gov (United States)

    Casini, Marco; Garulli, Andrea; Giannitrapani, Antonio; Vicino, Antonio

    2014-09-04

    In this paper, a remote lab for experimenting with a team of mobile robots is presented. Robots are built with the LEGO Mindstorms technology and user-defined control laws can be directly coded in the Matlab programming language and validated on the real system. The lab is versatile enough to be used for both teaching and research purposes. Students can easily go through a number of predefined mobile robotics experiences without having to worry about robot hardware or low-level programming languages. More advanced experiments can also be carried out by uploading custom controllers. The capability to have full control of the vehicles, together with the possibility to define arbitrarily complex environments through the definition of virtual obstacles, makes the proposed facility well suited to quickly test and compare different control laws in a real-world scenario. Moreover, the user can simulate the presence of different types of exteroceptive sensors on board of the robots or a specific communication architecture among the agents, so that decentralized control strategies and motion coordination algorithms can be easily implemented and tested. A number of possible applications and real experiments are presented in order to illustrate the main features of the proposed mobile robotics remote lab.

  2. Generative Programming for Functional Safety in Mobile Robots

    DEFF Research Database (Denmark)

    Adam, Marian Sorin

    2017-01-01

    Safety is a major challenge in robotics, in particular for mobile robots operating in an open and unpredictable environment. Safety certification is desired for commercial robots, but the existing approaches for addressing safety do not provide a clearly defined and isolated programmatic safety...... layer, with an easily understandable specification for facilitating safety certification. Moreover, mobile robots are advanced systems often implemented using a distributed architecture where software components are deployed on heterogeneous hardware modules. Many components are key to the overall...... for generating SDSLs. We researched the feasibility of such SDSLs, among other use cases, as a visual interface for DeRoS by replacing the standard textual syntax and the Eclipse IDE used by DeRoS with the two-dimensional syntax offered by the spreadsheets. Last, the elaboration of an architectural concept...

  3. Ten Years of Cooperation Between Mobile Robots and Sensor Networks

    Directory of Open Access Journals (Sweden)

    Jesus Capitán Fernández

    2015-06-01

    Full Text Available This paper presents an overview of the work carried out by the Group of Robotics, Vision and Control (GRVC at the University of Seville on the cooperation between mobile robots and sensor networks. The GRVC, led by Professor Anibal Ollero, has been working over the last ten years on techniques where robots and sensor networks exploit synergies and collaborate tightly, developing numerous research projects on the topic. In this paper, based on our research, we introduce what we consider some relevant challenges when combining sensor networks with mobile robots. Then, we describe our developed techniques and main results for these challenges. In particular, the paper focuses on autonomous self-deployment of sensor networks; cooperative localization and tracking; self-localization and mapping; and large-scale scenarios. Extensive experimental results and lessons learnt are also discussed in the paper.

  4. Ten Years of Cooperation Between Mobile Robots and Sensor Networks

    Directory of Open Access Journals (Sweden)

    Jesus Capitán Fernández

    2015-06-01

    Full Text Available This paper presents an overview of the work carried out by the Group of Robotics, Vision and Control (GRVC at the University of Seville on the cooperation between mobile robots and sensor networks. The GRVC, led by Professor Anibal Ollero, has been working over the last ten years on techniques where robots and sensor networks exploit synergies and collaborate tightly, developing numerous research projects on the topic. In this paper, based on our research, we introduce what we consider some relevant challenges when combining sensor networks with mobile robots. Then, we describe our developed techniques and main results for these challenges. In particular, the paper focuses on autonomous self-deployment of sensor networks; cooperative localization and tracking; self-localization and mapping; and large-scale scenarios. Extensive experimental results and lessons learnt are also discussed in the paper.

  5. Automatically Annotated Mapping for Indoor Mobile Robot Applications

    DEFF Research Database (Denmark)

    Özkil, Ali Gürcan; Howard, Thomas J.

    2012-01-01

    localization and mapping in topology space, and fuses camera and robot pose estimations to build an automatically annotated global topo-metric map. It is developed as a framework for a hospital service robot and tested in a real hospital. Experiments show that the method is capable of producing globally...... consistent, automatically annotated hybrid metric-topological maps that is needed by mobile service robots.......This paper presents a new and practical method for mapping and annotating indoor environments for mobile robot use. The method makes use of 2D occupancy grid maps for metric representation, and topology maps to indicate the connectivity of the ‘places-of-interests’ in the environment. Novel use...

  6. Mobile Technology and Liberal Education

    Science.gov (United States)

    Rossing, Jonathan P.

    2012-01-01

    In this article, the author offers reflections on the impact of mobile technology for liberal education. These reflections are based on his own experience of incorporating iPads in his communication courses during the 2010-2011 academic year. As a member of an interdisciplinary faculty learning community on the use of mobile tablets, he explored…

  7. Robot technologies, autism and designs for learning

    DEFF Research Database (Denmark)

    Hansbøl, Mikala

    2015-01-01

    in the future, with a focus on children and young people diagnosed with autism spectrum disorders, their ICT interests and engagement in innovative and creative learning. The paper draws on international research and examples from the author’s own research into education for children and young people diagnosed...... with autism spectrum disorders, drawing on teachers’ and the students’ interests in working with ICT (e.g. robot technology)....... on Scandinavian schools places robotics and programming within a four to five year time-to-adoption period. At the moment in Denmark, many municipalities are initiating trials, investing in and engaging a diverse range of robot technologies in both daycare and schools. The field of education and robot...

  8. Mobile and ubiquitous learning technologies

    NARCIS (Netherlands)

    Specht, Marcus

    2012-01-01

    Specht, M. (2012, 22 November). Mobile and ubiquitous learning technologies. Presentation given at the Workshop "Blended Learning an Hochschulen" at the Fakultätentag Informatik at the Universität Jena, Jena, Germany.

  9. Mobile and ubiquitous learning technologies

    NARCIS (Netherlands)

    Specht, Marcus

    2012-01-01

    Specht, M. (2012, 22 November). Mobile and ubiquitous learning technologies. Presentation given at the Workshop "Blended Learning an Hochschulen" at the Fakultätentag Informatik at the Universität Jena, Jena, Germany.

  10. Calibration of ultrasonic sensors of a mobile robot

    Directory of Open Access Journals (Sweden)

    Paunović Ivan

    2009-01-01

    Full Text Available The paper discusses a mobile robot localization. Due to cost and simplicity of signal processing, the ultrasonic sensors are very suitable for this application. However, their nonlinear characteristics requires thorough calibrating procedure in order to achieve reliable readings from the obstacles around the robot. Here we describe SMR400 ultrasonic sensor and its calibration procedure. The suggested calibration procedure was tested through a number of experiments, and the results are presented in this paper. .

  11. Recursive Backstepping Stabilization of a Wheeled Mobile Robot

    OpenAIRE

    Faical Mnif

    2008-01-01

    This research is aimed to the development of a dynamic control to enhance the performance of the existing dynamic controllers for mobile robots. System dynamics of the car-like robot with nonholonomic constraints were employed. A Backstepping approach for the design of discontinuous state feedback controller is used for the design of the controller. It is shown that the origin of the closed loop system can be made stable in the sense of Lyapunov. The control design is made...

  12. Augmented reality to improve teleoperation of mobile robots

    OpenAIRE

    2011-01-01

    In this article we want to discuss the skills required for human teleoperators of mobile robots. We show the classical problems related with teleoperation but focus our discussion in not specialized operators. We want to show how a proposal based on augmented reality interfaces can improve the performance of operators controlling the robot. We present the validation of our solution in two experiments: one in a controlled circuit and another one in a real environment. To c...

  13. Vision-based formation control of mobile robots

    Institute of Scientific and Technical Information of China (English)

    Shicai LIU; Dalong TAN; Guangjun LIU

    2005-01-01

    In this paper,a formation control algorithm and an obstacle avoidance control algorithm for mobile robots are developed based on a relative motion sensory system such as a pan/tilt camera vision system,without the need for global sensing and communication between robots.This is achieved by employing the velocity variation,instead of actual velocities,as the control inputs.Simulation and experimental results have demonstrated the effectiveness of the proposed control methods.

  14. Robust Tracking Control of Mobile Robot Formation with Obstacle Avoidance

    OpenAIRE

    Tiantian Yang; Zhiyuan Liu; Hong Chen; Run Pei

    2007-01-01

    We consider the formation control problem of multiple wheeled mobile robots with parametric uncertainties and actuator saturations in the environment with obstacles. First, a nonconvex optimization problem is introduced to generate the collision-free trajectory. If the robots tracking along the reference trajectory find themselves moving close to the obstacles, a new collision-free trajectory is generated automatically by solving the optimization problem. Then, a distributed control scheme...

  15. Hybrid Control Design for a Wheeled Mobile Robot

    DEFF Research Database (Denmark)

    Bak, Thomas; Bendtsen, Jan Dimon; Ravn, Anders Peter

    2003-01-01

    We present a hybrid systems solution to the problem of trajectory tracking for a four-wheel steered four-wheel driven mobile robot. The robot is modelled as a non-holonomic dynamic system subject to pure rolling, no-slip constraints. Under normal driving conditions, a nonlinear trajectory trackin....... The stability of the hybrid control scheme is finally analyzed using Lyapunov-like arguments....

  16. Technology readiness level six and autonomous mobility

    Science.gov (United States)

    Bodt, Barry A.; Camden, Rick S.

    2004-09-01

    During FY03, the U.S. Army Research Laboratory undertook a series of experiments designed to assess the maturity of autonomous mobility technology for the Future Combat Systems Armed Robotic Vehicle concept. The experiments assessed the technology against a level 6 standard in the technology readiness level (TRL) maturation schedule identified by a 1999 Government Accounting Office report. During the course of experimentation, 646 missions were conducted over a total distance of ~560 km and time of ~100 hr. Autonomous operation represented 96% and 88% of total distance and time, respectively. To satisfy the TRL 6 "relevant environment" standard, several experimental factors were varied over the three-site test as part of a formal, statistical, experimental design. This paper reports the specific findings pertaining to relevant-environment questions that were posed for the study and lends additional support to the Lead System Integrator decision that TRL 6 has been attained for the autonomous navigation system.

  17. Real-World Validation of Three Tipover Algorithms for Mobile Robots

    Science.gov (United States)

    2010-05-01

    Real-World Validation of Three Tipover Algorithms for Mobile Robots Philip R. Roan, Aaron Burmeister, Amin Rahimi, Kevin Holz, and David Hooper...Additionally, tipover can result in bending or breaking parts of the robot, requiring expensive repairs. Mobile robots are given critical tasks and sent...vehicle is remotely or autonomously operated, as is often the case with small mobile robots . These robots are likely to tipover because they encounter

  18. Object Transportation by Two Mobile Robots with Hand Carts.

    Science.gov (United States)

    Sakuyama, Takuya; Figueroa Heredia, Jorge David; Ogata, Taiki; Hara, Tatsunori; Ota, Jun

    2014-01-01

    This paper proposes a methodology by which two small mobile robots can grasp, lift, and transport large objects using hand carts. The specific problems involve generating robot actions and determining the hand cart positions to achieve the stable loading of objects onto the carts. These problems are solved using nonlinear optimization, and we propose an algorithm for generating robot actions. The proposed method was verified through simulations and experiments using actual devices in a real environment. The proposed method could reduce the number of robots required to transport large objects with 50-60%. In addition, we demonstrated the efficacy of this task in real environments where errors occur in robot sensing and movement.

  19. Efficient Control Law Simulation for Multiple Mobile Robots

    Energy Technology Data Exchange (ETDEWEB)

    Driessen, B.J.; Feddema, J.T.; Kotulski, J.D.; Kwok, K.S.

    1998-10-06

    In this paper we consider the problem of simulating simple control laws involving large numbers of mobile robots. Such simulation can be computationally prohibitive if the number of robots is large enough, say 1 million, due to the 0(N2 ) cost of each time step. This work therefore uses hierarchical tree-based methods for calculating the control law. These tree-based approaches have O(NlogN) cost per time step, thus allowing for efficient simulation involving a large number of robots. For concreteness, a decentralized control law which involves only the distance and bearing to the closest neighbor robot will be considered. The time to calculate the control law for each robot at each time step is demonstrated to be O(logN).

  20. Rule-based Dynamic Safety Monitoring for Mobile Robots

    DEFF Research Database (Denmark)

    Adam, Marian Sorin; Schultz, Ulrik Pagh

    2016-01-01

    , defined in an easily understandable way for facilitating safety certification. In this paper, we propose that functional-safety-critical concerns regarding the robot software be explicitly declared separately from the main program, in terms of externally observable properties of the software. Concretely......—Safety is a key challenge in robotics, in particular for mobile robots operating in an open and unpredictable environment. Safety certification is desired for commercial robots, but no existing approaches for addressing the safety challenge provide a clearly specified and isolated safety layer......, and is experimentally demonstrated to enforce safety behaviour in existing robot software. We believe our approach could be extended to other fields to similarly simplify safety certification....

  1. The BG-simulation for Byzantine Mobile Robots

    CERN Document Server

    Izumi, Taisuke; Tixeuil, Sébastien; Wada, Koichi

    2011-01-01

    This paper investigates the task solvability of mobile robot systems subject to Byzantine faults. We first consider the gathering problem, which requires all robots to meet in finite time at a non-predefined location. It is known that the solvability of Byzantine gathering strongly depends on a number of system attributes, such as synchrony, the number of Byzantine robots, scheduling strategy, obliviousness, orientation of local coordinate systems and so on. However, the complete characterization of the attributes making Byzantine gathering solvable still remains open. In this paper, we show strong impossibility results of Byzantine gathering. Namely, we prove that Byzantine gathering is impossible even if we assume one Byzantine fault, an atomic execution system, the n-bounded centralized scheduler, non-oblivious robots, instantaneous movements and a common orientation of local coordinate systems (where n denote the number of correct robots). Those hypotheses are much weaker than used in previous work, induc...

  2. Efficient Control Law Simulation for Multiple Mobile Robots

    Energy Technology Data Exchange (ETDEWEB)

    Driessen, B.J.; Feddema, J.T.; Kotulski, J.D.; Kwok, K.S.

    1998-10-06

    In this paper we consider the problem of simulating simple control laws involving large numbers of mobile robots. Such simulation can be computationally prohibitive if the number of robots is large enough, say 1 million, due to the 0(N2 ) cost of each time step. This work therefore uses hierarchical tree-based methods for calculating the control law. These tree-based approaches have O(NlogN) cost per time step, thus allowing for efficient simulation involving a large number of robots. For concreteness, a decentralized control law which involves only the distance and bearing to the closest neighbor robot will be considered. The time to calculate the control law for each robot at each time step is demonstrated to be O(logN).

  3. Review article: locomotion systems for ground mobile robots in unstructured environments

    Directory of Open Access Journals (Sweden)

    L. Bruzzone

    2012-07-01

    Full Text Available The world market of mobile robotics is expected to increase substantially in the next 20 yr, surpassing the market of industrial robotics in terms of units and sales. Important fields of application are homeland security, surveillance, demining, reconnaissance in dangerous situations, and agriculture. The design of the locomotion systems of mobile robots for unstructured environments is generally complex, particularly when they are required to move on uneven or soft terrains, or to climb obstacles. This paper sets out to analyse the state-of-the-art of locomotion mechanisms for ground mobile robots, focussing on solutions for unstructured environments, in order to help designers to select the optimal solution for specific operating requirements. The three main categories of locomotion systems (wheeled – W, tracked – T and legged – L and the four hybrid categories that can be derived by combining these main locomotion systems are discussed with reference to maximum speed, obstacle-crossing capability, step/stair climbing capability, slope climbing capability, walking capability on soft terrains, walking capability on uneven terrains, energy efficiency, mechanical complexity, control complexity and technology readiness. The current and future trends of mobile robotics are also outlined.

  4. Virtual Simulator for Autonomous Mobile Robots Navigation System Using Concepts of Control Rapid Prototyping

    Directory of Open Access Journals (Sweden)

    Leonimer Flavio de Melo

    2013-09-01

    Full Text Available This work presents the proposal of virtual environment implementation for project simulation and conception of supervision and control systems for mobile robots, that are capable to operate and adapting in different environments and conditions. This virtual system has as purpose to facilitate the development of embedded architecture systems, emphasizing the implementation of tools that allow the simulation of the kinematic conditions, dynamic and control, with real time monitoring of all important system points. For this, open control architecture is proposal, integrating the two main techniques of robotic control implementation in the hardware level: systems microprocessors and reconfigurable hardware devices. The implemented simulator system is composed of a trajectory generating module, a kinematic and dynamic simulator module and of a analysis module of results and errors. The kinematic and dynamic simulator module makes all simulation of the mobile robot following the pre-determined trajectory of the trajectory generator. All the kinematic and dynamic results shown during the simulation can be evaluated and visualized in graphs and tables formats, in the results analysis module, allowing an improvement in the system, minimizing the errors with the necessary adjustments optimization. For controller implementation in the embedded system, it uses the rapid prototyping, which is the technology that allows, in set with the virtual simulation environment, the development of a controller project for mobile robots. The validation and tests had been accomplishing with nonholonomics mobile robots models with differential transmission.

  5. Sensor Fusion Based Model for Collision Free Mobile Robot Navigation

    Directory of Open Access Journals (Sweden)

    Marwah Almasri

    2015-12-01

    Full Text Available Autonomous mobile robots have become a very popular and interesting topic in the last decade. Each of them are equipped with various types of sensors such as GPS, camera, infrared and ultrasonic sensors. These sensors are used to observe the surrounding environment. However, these sensors sometimes fail and have inaccurate readings. Therefore, the integration of sensor fusion will help to solve this dilemma and enhance the overall performance. This paper presents a collision free mobile robot navigation based on the fuzzy logic fusion model. Eight distance sensors and a range finder camera are used for the collision avoidance approach where three ground sensors are used for the line or path following approach. The fuzzy system is composed of nine inputs which are the eight distance sensors and the camera, two outputs which are the left and right velocities of the mobile robot’s wheels, and 24 fuzzy rules for the robot’s movement. Webots Pro simulator is used for modeling the environment and the robot. The proposed methodology, which includes the collision avoidance based on fuzzy logic fusion model and line following robot, has been implemented and tested through simulation and real time experiments. Various scenarios have been presented with static and dynamic obstacles using one robot and two robots while avoiding obstacles in different shapes and sizes.

  6. Optical flow based velocity estimation for mobile robots

    Science.gov (United States)

    Li, Xiuzhi; Zhao, Guanrong; Jia, Songmin; Qin, Baoling; Yang, Ailin

    2015-02-01

    This paper presents an optical flow based novel technique to perceive the instant motion velocity of mobile robots. The primary focus of this study is to determine the robot's ego-motion using displacement field in temporally consecutive image pairs. In contrast to most previous approaches for estimating velocity, we employ a polynomial expansion based dense optical flow approach and propose a quadratic model based RANSAC refinement of flow fields to render our method more robust with respect to noise and outliers. Accordingly, techniques for geometrical transformation and interpretation of the inter-frame motion are presented. Advantages of our proposal are validated by real experimental results conducted on Pioneer robot.

  7. Practical indoor mobile robot navigation using hybrid maps

    DEFF Research Database (Denmark)

    Özkil, Ali Gürcan; Fan, Zhun; Xiao, Jizhong

    2011-01-01

    This paper presents a practical navigation scheme for indoor mobile robots using hybrid maps. The method makes use of metric maps for local navigation and a topological map for global path planning. Metric maps are generated as 2D occupancy grids by a range sensor to represent local information...... about partial areas. The global topological map is used to indicate the connectivity of the 'places-of-interests' in the environment and the interconnectivity of the local maps. Visual tags on the ceiling to be detected by the robot provide valuable information and contribute to reliable localization...... robot and evaluated in a hospital environment....

  8. High Precision GNSS Guidance for Field Mobile Robots

    Directory of Open Access Journals (Sweden)

    Ladislav Jurišica

    2012-11-01

    Full Text Available In this paper, we discuss GNSS (Global Navigation Satellite System guidance for field mobile robots. Several GNSS systems and receivers, as well as multiple measurement methods and principles of GNSS systems are examined. We focus mainly on sources of errors and investigate diverse approaches for precise measuring and effective use of GNSS systems for real‐ time robot localization. The main body of the article compares two GNSS receivers and their measurement methods. We design, implement and evaluate several mathematical methods for precise robot localization.

  9. Implementation of a Mobile Robot Platform Navigating in Dynamic Environment

    Directory of Open Access Journals (Sweden)

    Belaidi Hadjira

    2017-01-01

    Full Text Available Currently, problems of autonomous wheeled mobile robots in unknown environments are great challenge. Obstacle avoidance and path planning are the back bone of autonomous control as it makes robot able to reach its destination without collision. Dodging obstacles in dynamic and uncertain environment is the most complex part of obstacle avoidance and path planning tasks. This work deals with the implementation of an easy approach of static and dynamic obstacles avoidance. The robot starts by executing a free optimal path loaded into its controller; then, it uses its sensors to avoid the unexpected obstacles which may occur in that path during navigation.

  10. Self-organized architecture for outdoor mobile robot navigation

    Institute of Scientific and Technical Information of China (English)

    ZHANG Huan-cheng; ZHU Miao-liang

    2005-01-01

    This paper proposed a multi-agent based architecture for outdoor mobile robot navigation where event-driven control is used to handle the dynamically changing of the environment. With the support of a distributed communication infrastructure and an event-driven situation evaluation agent, the robot can initiate action adaptive to the dynamical changes in the environment through reorganize its internal architecture. Adaptiveness and feasibility of the proposed architecture is validated through navigation experiments on the robot in a variety of natural outdoor environments.

  11. Predictive Control for Visual Servo Stabilization of Nonholonomic Mobile Robots

    Institute of Scientific and Technical Information of China (English)

    CAO Zheng-Cai; YIN Long-Jie; FU Yi-Li; LIU Tian-Long

    2013-01-01

    Visual servo stabilization of nonholonomic mobile robots has gained extensive attention.However,currently,the solution of the problem does not consider both the visibility constraints and the actuator limitations,so the designed controller is difficult to realize satisfactory performance in practical application.In this paper,a predictive controller for the visual servo stabilization of a mobile robot is presented.Firstly,a kinematic predictive stabilization controller utilized to generate the command of velocity is introduced.Then,in order to make the actual velocity of the mobile robot asymptotically approach to the desired one,a dynamic predictive controller is designed.The proposed predictive controller can deal with the constraints easily.Finally,several simulations are performed,and the results illustrate that the proposed control scheme is effective to solve the visual servo stabilization problem.

  12. A mobile self-reconfigurable robot based on modularity

    Institute of Scientific and Technical Information of China (English)

    Zhong Ming; Guo Wei; Xu Ji'an; Sun Lining

    2009-01-01

    A novel mobile self-reconfigurable robot is presented. This robot consists of several independent units. Each unit is composed of modular components including ultrasonic sensor, camera, communication, computation, and mobility parts, and is capable of simple self-reconfiguring to enhance its mobility by expanding itself. Several units can not only link into a train or other shapes autonomously via camera and sensors to be a united whole robot for obstacle clearing, but also disjoin to be separate units under control after missions. To achieve small overall size, compact mechanical structures are adopted in modular components design, and a miniature advanced RISC machines (ARM) based embedded controller is developed for minimal power consumption and efficient global control. The docking experiment between two units has also been implemented.

  13. Study on Posture Estimation Using Delayed Measurements for Mobile Robots

    Institute of Scientific and Technical Information of China (English)

    2005-01-01

    When associating data from various sensors to estimate the posture of mobile robots, a crucial problem to be solved is that there may be some delayed measurements. Furthermore, the general multi-sensor data fusion algorithm is a Kalman filter. In order to handle the problem concerning delayed measurements, this paper investigates a Kalman filter modified to account for the delays. Based on the interpolating measurement, a fusion system is applied to estimate the posture of a mobile robot which fuses the data from the encoder and laser global position system using the extended Kalman filter algorithm. Finally, the posture estimation experiment of the mobile robot is given whose result verifies the feasibility and efficiency of the algorithm.

  14. Localization System for a Mobile Robot Using Computer Vision Techniques

    Directory of Open Access Journals (Sweden)

    Rony Cruz Ramírez

    2012-05-01

    Full Text Available Mobile Robotics is a subject with multiple fields of action hence studies in this area are of vital importance. This paper describes the development of localization system for a mobile robot using Computer Vision. A webcam is placed at a height where the navigation environment can be seen. A LEGO NXT kit is used to build a wheeled mobile robot of differential drive configuration. The software is programmed in C++ using the functions library Open CV 2.0. this software then soft handles the webcam, does the processing of captured images, the calculation of the location, controls and communicates via Bluetooth. Also it implements a kinematic position control and performs several experiments to verify the reliability of the localization system. The results of one such experiment are described here.

  15. Microcontroller-based mobile robot positioning and obstacle avoidance

    Directory of Open Access Journals (Sweden)

    Aziza M. Zaki

    2014-05-01

    Full Text Available The use of mobile robots is growing in manufacturing facilities, hazardous materials handling, etc. Usually, several sensor systems are used in combination. The task of combining the information into a usable form, suitable for making navigation decisions, is known as sensor fusion. In this paper, the navigation system built on a mobile robot operating in a warehouse is presented focusing on the sensory system used. Hybrid navigation system that combines the perception and dead reckoning is used and gives satisfactory operation. A microcontroller system is designed to control the navigation of a mobile robot while avoiding obstacles. A system of 24 ultrasonic sensors was designed and the operation algorithms were described. The encoder and the ultrasonic sensors used are presented in detail together with the navigation system designed based on their operation.

  16. Hazardous-environment problems: Mobile robots to the rescue

    Energy Technology Data Exchange (ETDEWEB)

    Meieran, H.B. (PHD Technologies, Inc., Pittsburgh, PA (United States))

    1992-01-01

    This paper presents a rationale for employing a spectrum of similar mobile robots to conduct appropriate common missions for the following five hazardous-environment issues: (1) dismantlement of nuclear weapons; (2) environmental restoration and waste management of US Department of Energy weapons sites; (3) operations in nuclear power plants and other facilities; (4) waste chemical site remediation and cleanup activities; and (5) assistance in handling toxic chemical/radiation accidents. Mobile robots have been developed for several hazardous-environment industries, the most visible ones being construction/excavation/tunneling, explosive ordnance/bomb disposal (EOD), fire-fighting, military operations, mining, nuclear, and security. A summary of the range of functions that mobile robots are currently capable of conducting is presented.

  17. Mobile robots for use in nuclear facilities; Mobile Roboter fuer kerntechnische Anlagen

    Energy Technology Data Exchange (ETDEWEB)

    Haferkamp, H. [Inst. fuer Werkstoffkunde, Univ. Hannover (Germany); Bach, F.W. [Inst. fuer Werkstoffkunde, Univ. Hannover (Germany); Seevers, J. [Inst. fuer Werkstoffkunde, Univ. Hannover (Germany)

    1995-10-01

    The radiation exposure encountered in revisions and demolitions of some areas of nuclear facilities requires the use of remotely operated technical systems in order to avoid the personnel being exposed in the course of such work. The main activities conducted within such areas include inspecting, measuring, cleaning, cutting, and handling. The Institute for Materials Research (IW) of th University of Hannover, with its twenty years of experience in basic and application-oriented research and development in the field of thermal cutting, especially in plasma fusion cutting, and ten years of development of remotely operated handling systems, offers its services as a partner in solving these problems in nuclear plants. Besides stationary systems, IW has developed also mobile robots and manipulators able to move largely autonomously under remote control within a certain area. (orig.) [Deutsch] Die Revision und der Rueckbau von kerntechnischen Anlagen erfordern aufgrund der Strahlenexposition in einigen Bereichen fernbedienbare technische Systeme, so dass das Personal beim Verrichten von Taetigkeiten strahlungstechnisch nicht belastet wird. Die Aufgaben innerhalb solcher Bereiche sind im wesentlichen inspizieren, messen, reinigen, schneiden und handhaben. Das Institut fuer Werkstoffkunde (IW) der Universitaet Hannover mit seiner nunmehr zwanzigjaehrigen Erfahrung aus der Grundlagen- und anwendungsorientierten Forschung und Entwicklung auf dem Gebiet der thermischen Trenntechnik, insbesondere der Plasmaschmelzschneidtechnik, sowie der seit zehn Jahren betriebenen Entwicklung von fernbedienbaren Handhabungssystemen bietet sich als Partner fuer die Loesung dieser Aufgaben in kerntechnischen Anlagen an. Neben der Ausfuehrung von stationaeren Systemen wurden am IW mobile Roboter und Manipulatoren entwickelt, die sich fernbedient weitgehend autonom in einem bestimmten Bereich bewegen koennen. (orig.)

  18. Field tests of the mobile robot Sherpa

    Energy Technology Data Exchange (ETDEWEB)

    Beaucourt, P. de; Garrec, P.; Morganti, P. [CEA Centre d`Etudes de Saclay, 91 - Gif-sur-Yvette (France). Dept. des Procedes et Systemes Avances; Trouville, B. [Electricite de France (EDF), 78 - Chatou (France); Lucibello, P.; Nobile, M. [ENEA, Rome (Italy). Direzione Studi

    1995-12-31

    This paper summarizes recent demonstrations of the transport capabilities, inside nuclear buildings, of the six egged robot SHERPA, developed by the CEA (Atomic Energy Commission) robotic team. Results of the tests carried out at Chooz-B and Trino Vercellesse Nuclear Power Plants, respectively in June 1993 and in January 1994, in the framework of the European Community TELEMAN Programme, are presented. (authors). 10 refs., 13 figs.

  19. A NEW MODEL OF AUTONOMOUS MOBILE ROBOTS WITH LIGHTS AND ITS COMPUTATIONAL POWER

    OpenAIRE

    寺井, 智史

    2016-01-01

    We study gathering problem for robots that move on a two dimensional plane. Robots are autonomous, anonymous, and have light that represents robot’s state. Gathering algorithm for n=2 robots is proposed in previous research. We propose a new model of robots with lights and athering algorithm. Key Words :distributed , mobile robots , light

  20. Throughput Measurement Method Using Command Packets for Mobile Robot Teleoperation Via a Wireless Sensor Network

    OpenAIRE

    2016-01-01

    We are working to develop an information gathering system comprising a mobile robot and a wireless sensor network (WSN) for use in post-disaster underground environments. In the proposed system, a mobile robot carries wireless sensor nodes and deploys them to construct a WSN in the environment, thus providing a wireless communication infrastructure for mobile robot teleoperation. An operator then controls the mobile robot remotely while monitoring end-to-end communication quality with the mob...

  1. Advanced Fuzzy Potential Field Method for Mobile Robot Obstacle Avoidance.

    Science.gov (United States)

    Park, Jong-Wook; Kwak, Hwan-Joo; Kang, Young-Chang; Kim, Dong W

    2016-01-01

    An advanced fuzzy potential field method for mobile robot obstacle avoidance is proposed. The potential field method primarily deals with the repulsive forces surrounding obstacles, while fuzzy control logic focuses on fuzzy rules that handle linguistic variables and describe the knowledge of experts. The design of a fuzzy controller--advanced fuzzy potential field method (AFPFM)--that models and enhances the conventional potential field method is proposed and discussed. This study also examines the rule-explosion problem of conventional fuzzy logic and assesses the performance of our proposed AFPFM through simulations carried out using a mobile robot.

  2. Advanced Fuzzy Potential Field Method for Mobile Robot Obstacle Avoidance

    Science.gov (United States)

    Park, Jong-Wook; Kwak, Hwan-Joo; Kang, Young-Chang; Kim, Dong W.

    2016-01-01

    An advanced fuzzy potential field method for mobile robot obstacle avoidance is proposed. The potential field method primarily deals with the repulsive forces surrounding obstacles, while fuzzy control logic focuses on fuzzy rules that handle linguistic variables and describe the knowledge of experts. The design of a fuzzy controller—advanced fuzzy potential field method (AFPFM)—that models and enhances the conventional potential field method is proposed and discussed. This study also examines the rule-explosion problem of conventional fuzzy logic and assesses the performance of our proposed AFPFM through simulations carried out using a mobile robot. PMID:27123001

  3. A cellular automaton evacuation model based on mobile robot's behaviors

    Institute of Scientific and Technical Information of China (English)

    WENG WenGuo; YUAN HongYong; FAN WeiCheng

    2007-01-01

    The research of evacuation in some emergencies, e.g. fire, is of great benefit to reducing the injuries of persons. In this paper, a cellular automaton evacuation model based on mobile robot's behaviors is presented. Each person is treated as an intelligent mobile robot, and motor schemas, including move-to-goal, avoid-obstacle, swirl-obstacle and nervous-motion, drive persons to interact with their environment. The motor schemas are combined with cellular automaton theory, and an evacuation model is built. Evacuation simulation of persons with different move velocities shows that the presented model can predict accurately the evacuation phenomena in some emergencies.

  4. An Adaptive Game Algorithm for an Autonomous, Mobile Robot

    DEFF Research Database (Denmark)

    Hansen, Søren Tranberg; Bak, Thomas; Risager, Claus

    2012-01-01

    This paper presents a field study of a physical ball game for elderly based on an autonomous, mobile robot. The game algorithm is based on Case Based Reasoning and adjusts the game challenge to the player’s mobility skills by registering the spatio-temporal behaviour of the player using an on board...... laser scanner.We have investigated the adaptiveness of the game algorithm in an open-ended environment with older adults using different assistive tools playing in at a rehabilitation center. The study shows that the robot operates robustly in the real world and that the game algorithm adjusts...

  5. Advanced Fuzzy Potential Field Method for Mobile Robot Obstacle Avoidance

    Directory of Open Access Journals (Sweden)

    Jong-Wook Park

    2016-01-01

    Full Text Available An advanced fuzzy potential field method for mobile robot obstacle avoidance is proposed. The potential field method primarily deals with the repulsive forces surrounding obstacles, while fuzzy control logic focuses on fuzzy rules that handle linguistic variables and describe the knowledge of experts. The design of a fuzzy controller—advanced fuzzy potential field method (AFPFM—that models and enhances the conventional potential field method is proposed and discussed. This study also examines the rule-explosion problem of conventional fuzzy logic and assesses the performance of our proposed AFPFM through simulations carried out using a mobile robot.

  6. Obstacle Avoidance of a Mobile Robot with Hierarchical Structure

    Energy Technology Data Exchange (ETDEWEB)

    Park, Chan Gyu [Yeungnam College of Science and Technolgy, Taegu (Korea)

    2001-06-01

    This paper proposed a new hierarchical fuzzy-neural network algorithm for navigation of a mobile robot within unknown dynamic environment. Proposed navigation algorithm used the learning ability of the neural network and the feasibility of control highly nonlinear system of fuzzy theory. The proposed navigation algorithm used fuzzy algorithm for goal approach and fuzzy-network for effective collision avoidance. Some computer simulation results for a mobile robot equipped with ultrasonic range sensors show that the suggested navigation algorithm is very effective to escape in stationary and moving obstacles environment. (author). 11 refs., 14 figs., 2 tabs.

  7. Exception detection and handling in mission control for mobile robots

    DEFF Research Database (Denmark)

    Andersen, Thomas Timm; Andersen, Nils Axel; Ravn, Ole

    2013-01-01

    This paper introduces a method for robust, rule-based mission control for mobile robots in a modular framework. Due to the modularity of the framework, it is possible to use both hierarchical control and reactive behavior seamlessly to find solutions to both planned and unplanned event in the mis......This paper introduces a method for robust, rule-based mission control for mobile robots in a modular framework. Due to the modularity of the framework, it is possible to use both hierarchical control and reactive behavior seamlessly to find solutions to both planned and unplanned event...

  8. Robust Adaptive Stabilization of Nonholonomic Mobile Robots with Bounded Disturbances

    Directory of Open Access Journals (Sweden)

    Gang Chen

    2014-01-01

    Full Text Available The stabilization problem of nonholonomic mobile robots with unknown system parameters and environmental disturbances is investigated in this paper. Considering the dynamic model and the kinematic model of mobile robots, the transverse function approach is adopted to construct an additional control parameter, so that the closed-loop system is not underactuated. Then the adaptive backstepping method and the parameter projection technique are applied to design the controller to stabilize the system. At last, simulation results demonstrate the effectiveness of our proposed controller schemes.

  9. New Mobile Technologies

    DEFF Research Database (Denmark)

    Tan, Su-En; Henten, Anders

    2006-01-01

    This paper takes a look at Clayton Christensen 's theory of disruptive technologies and how Christensen's theory relates to other innovation theories. It also proposes a new layer of analysis to this theory to better link the technology analysis to the market analysis of any given technology...... product. This layer suggests that complementarity and substitutability are important criteria for technologies to be market disruptions or sustaining changes....

  10. Collective search by mobile robots using alpha-beta coordination

    Energy Technology Data Exchange (ETDEWEB)

    Goldsmith, S.Y.; Robinett, R. III

    1998-04-01

    One important application of mobile robots is searching a geographical region to locate the origin of a specific sensible phenomenon. Mapping mine fields, extraterrestrial and undersea exploration, the location of chemical and biological weapons, and the location of explosive devices are just a few potential applications. Teams of robotic bloodhounds have a simple common goal; to converge on the location of the source phenomenon, confirm its intensity, and to remain aggregated around it until directed to take some other action. In cases where human intervention through teleoperation is not possible, the robot team must be deployed in a territory without supervision, requiring an autonomous decentralized coordination strategy. This paper presents the alpha beta coordination strategy, a family of collective search algorithms that are based on dynamic partitioning of the robotic team into two complementary social roles according to a sensor based status measure. Robots in the alpha role are risk takers, motivated to improve their status by exploring new regions of the search space. Robots in the beta role are motivated to improve but are conservative, and tend to remain aggregated and stationary until the alpha robots have identified better regions of the search space. Roles are determined dynamically by each member of the team based on the status of the individual robot relative to the current state of the collective. Partitioning the robot team into alpha and beta roles results in a balance between exploration and exploitation, and can yield collective energy savings and improved resistance to sensor noise and defectors. Alpha robots waste energy exploring new territory, and are more sensitive to the effects of ambient noise and to defectors reporting inflated status. Beta robots conserve energy by moving in a direct path to regions of confirmed high status.

  11. Omni directional mobile robot capable of variable foot printing based on hub type drive module

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Hyo Joong; Cho, Chang Nho; Kim, Hwi Su; Song, Jae Bok [Korea Univ., Seoul (Korea, Republic of)

    2012-03-15

    In recent years, an increased amount of research has been carried out on mobile robots to improve the performance of service robots. Mobile robots maximize the mobility of service robots, thus allowing them to work in different areas. However, conventional service robots have their center of mass placed high above the ground, which may cause them to fall when moving at high speed. Furthermore, hub type actuators, which are often used for mobile robots, are large and expensive. In this study, we propose a mobile robot with a hub type actuator unit and a variable footprint mechanism. The proposed variable footprint mechanism greatly improves the stability and mobility of the robot, allowing it to move freely in a narrow space and carry out various tasks. The performance of the proposed robot is verified experimentally.

  12. A study on in-pipe inspection mobile robots, 3; Basic strategy of inspection path planning for inspection mobile robots

    Energy Technology Data Exchange (ETDEWEB)

    Fukuda, Toshio (Nagoya Univ. (Japan). Faculty of Engineering); Hosokai, Hidemi; Uemura, Masahiro

    1990-01-01

    This paper deals with inspection path planning for in-pipe inspection mobile robots which have the capability of moving through complicated pipeline networks. It is imperative that the robot systems have an inspection path planning system for such networks for their reasonable and rational operation, controlled by themselves or by the operators. The planning mainly requires two projects: the selection of the place to put the robot in or out, and the generation of the paths in the networks. This system provides the for complicated problems with plural inspection points using a basic strategy of systematically producing patterns and dividing partial problems of simple searches based on rules. (author).

  13. Ubiquitous Robotic Technology for Smart Manufacturing System.

    Science.gov (United States)

    Wang, Wenshan; Zhu, Xiaoxiao; Wang, Liyu; Qiu, Qiang; Cao, Qixin

    2016-01-01

    As the manufacturing tasks become more individualized and more flexible, the machines in smart factory are required to do variable tasks collaboratively without reprogramming. This paper for the first time discusses the similarity between smart manufacturing systems and the ubiquitous robotic systems and makes an effort on deploying ubiquitous robotic technology to the smart factory. Specifically, a component based framework is proposed in order to enable the communication and cooperation of the heterogeneous robotic devices. Further, compared to the service robotic domain, the smart manufacturing systems are often in larger size. So a hierarchical planning method was implemented to improve the planning efficiency. A test bed of smart factory is developed. It demonstrates that the proposed framework is suitable for industrial domain, and the hierarchical planning method is able to solve large problems intractable with flat methods.

  14. Ubiquitous Robotic Technology for Smart Manufacturing System

    Directory of Open Access Journals (Sweden)

    Wenshan Wang

    2016-01-01

    Full Text Available As the manufacturing tasks become more individualized and more flexible, the machines in smart factory are required to do variable tasks collaboratively without reprogramming. This paper for the first time discusses the similarity between smart manufacturing systems and the ubiquitous robotic systems and makes an effort on deploying ubiquitous robotic technology to the smart factory. Specifically, a component based framework is proposed in order to enable the communication and cooperation of the heterogeneous robotic devices. Further, compared to the service robotic domain, the smart manufacturing systems are often in larger size. So a hierarchical planning method was implemented to improve the planning efficiency. A test bed of smart factory is developed. It demonstrates that the proposed framework is suitable for industrial domain, and the hierarchical planning method is able to solve large problems intractable with flat methods.

  15. Interacting with and via mobile devices and mobile robots in an assisted living setting

    Directory of Open Access Journals (Sweden)

    Maria Dagioglou

    2015-05-01

    Full Text Available Using robotic home assistants as a platform for remote health monitoring offers several advantages, but also presents considerable challenges related to both the technical immaturity of home robotics and to user acceptance issues. In this paper we explore tablets and similar mobile devices as the medium of communication between robots and their users, presenting relevant current and planned research in humanrobot interaction that can help the telehealth community circumvent technical shortcomings, improve user acceptance, and maximize the quality of the data collected by robotic home assistants.

  16. MPC-Based Path Following Control of an Omnidirectional Mobile Robot with Consideration of Robot Constraints

    Directory of Open Access Journals (Sweden)

    Kiattisin Kanjanawanishkul

    2015-01-01

    Full Text Available In this paper, the path following problem of an omnidirectional mobile robot (OMR has been studied. Unlike nonholonomic mobile robots, translational and rotational movements of OMRs can be controlled simultaneously and independently. However the constraints of translational and rotational velocities are coupled through the OMR's orientation angle. Therefore, a combination of a virtual-vehicle concept and a model predictive control (MPC strategy is proposed in this work to handle both robot constraints and the path following problem. Our proposed control scheme allows the OMR to follow the reference path successfully and safely, as illustrated in simulation experiments. The forward velocity is close to the desired one and the desired orientation angle is achieved at a given point on the path, while the robot's wheel velocities are maintained within boundaries.

  17. Review and Latest Trends in Mobile Robots Used on Power Transmission Lines

    Directory of Open Access Journals (Sweden)

    Rogério Sales Gonçalves

    2013-12-01

    Full Text Available This paper presents the current state of the art in mobile robots used on power transmission lines. Many theoretical and experimental studies have been conducted in order to develop autonomous machines to travel along transmission lines to perform inspection and/or repair work. These machines can improve efficiency, reduce labour costs and are expected to reduce the risk of injury to maintenance personnel. Despite there already being a number of pieces of theoretical research and technological developments in this area, problems related to stability, ability and autonomy still exist. As such, first this paper presents the main studies already carried out and the devices generally used on power transmission lines. After the latest trends have been presented, a new idea for module robots carrying out inspections/maintenance of power transmission lines is presented. Finally, the future of mobile robots applied to power transmission lines is discussed.

  18. The Personal Mobility and Manipulation Appliance (PerMMA): a robotic wheelchair with advanced mobility and manipulation.

    Science.gov (United States)

    Wang, Hongwu; Grindle, Garrett G; Candiotti, Jorge; Chung, Chengshiu; Shino, Motoki; Houston, Elaine; Cooper, Rory A

    2012-01-01

    The Personal Mobility and Manipulation Appliance (PerMMA) is a recently developed personal assistance robot developed to provide people with disabilities and older adults enhanced assistance in both mobility and manipulation, which are two fundamental components for independently activities of daily life performing, community participation, and quality of life. Technologies to assist with mobility and manipulation are among the most important tools for clinicians, end users and caregivers; however, there are currently few systems that provide practical and coordinated assistance with mobility and manipulation tasks. The PerMMA was not only developed and evaluated to provide users and caregivers enhanced mobility and manipulation options, but also as a clinical tool as well as research platform. The development and evaluation of PerMMA are presented in the paper.

  19. Robotic Maintenance and ROS - Appearance Based SLAM and Navigation With a Mobile Robot Prototype

    OpenAIRE

    Lindrup, Vegard Stjerna

    2016-01-01

    Robotic maintenance has been a topic in several master's theses and specialization projects at the Department of Engineering Cybernetics (ITK) at NTNU over many years. This thesis continues on the same topic, with special focus on camera-based mapping and navigation in conjunction with automated maintenance, and automated maintenance in general. The objective of this thesis is to implement one or more functionalities based on camera-based sensors in a mobile autonomous robot. This is accompli...

  20. Controlling a Mobile Robot with a Biological Brain

    Directory of Open Access Journals (Sweden)

    Kevin Warwick

    2010-01-01

    Full Text Available The intelligent controlling mechanism of a typical mobile robot is usually a computer system. Some recent research is ongoing in which biological neurons are being cultured and trained to act as the brain of an interactive real world robot–thereby either completely replacing, or operating in a cooperative fashion with, a computer system. Studying such hybrid systems can provide distinct insights into the operation of biological neural structures, and therefore, such research has immediate medical implications as well as enormous potential in robotics. The main aim of the research is to assess the computational and learning capacity of dissociated cultured neuronal networks. A hybrid system incorporating closed-loop control of a mobile robot by a dissociated culture of neurons has been created. The system is flexible and allows for closed-loop operation, either with hardware robot or its software simulation. The paper provides an overview of the problem area, gives an idea of the breadth of present ongoing research, establises a new system architecture and, as an example, reports on the results of conducted experiments with real-life robots.Defence Science Journal, 2010, 60(1, pp.5-14, DOI:http://dx.doi.org/10.14429/dsj.60.11

  1. A fuzzy logic controller for an autonomous mobile robot

    Science.gov (United States)

    Yen, John; Pfluger, Nathan

    1993-01-01

    The ability of a mobile robot system to plan and move intelligently in a dynamic system is needed if robots are to be useful in areas other than controlled environments. An example of a use for this system is to control an autonomous mobile robot in a space station, or other isolated area where it is hard or impossible for human life to exist for long periods of time (e.g., Mars). The system would allow the robot to be programmed to carry out the duties normally accomplished by a human being. Some of the duties that could be accomplished include operating instruments, transporting objects, and maintenance of the environment. The main focus of our early work has been on developing a fuzzy controller that takes a path and adapts it to a given environment. The robot only uses information gathered from the sensors, but retains the ability to avoid dynamically placed obstacles near and along the path. Our fuzzy logic controller is based on the following algorithm: (1) determine the desired direction of travel; (2) determine the allowed direction of travel; and (3) combine the desired and allowed directions in order to determine a direciton that is both desired and allowed. The desired direction of travel is determined by projecting ahead to a point along the path that is closer to the goal. This gives a local direction of travel for the robot and helps to avoid obstacles.

  2. Soft mobile robots driven by foldable dielectric elastomer actuators

    Science.gov (United States)

    Sun, Wenjie; Liu, Fan; Ma, Ziqi; Li, Chenghai; Zhou, Jinxiong

    2016-08-01

    A cantilever beam with elastic hinge pulled antagonistically by two dielectric elastomer (DE) membranes in tension forms a foldable actuator if one DE membrane is subject to a voltage and releases part of tension. Simply placing parallel rigid bars on the prestressed DE membranes results in enhanced actuators working in a pure shear state. We report design, analysis, fabrication, and experiment of soft mobile robots that are moved by such foldable DE actuators. We describe systematic measurement of the foldable actuators and perform theoretical analysis of such actuators based on minimization of total energy, and a good agreement is achieved between model prediction and measurement. We develop two versions of prototypes of soft mobile robots driven either by two sets of DE membranes or one DE membrane and elastic springs. We demonstrate locomotion of these soft mobile robots and highlight several key design parameters that influence locomotion of the robots. A 45 g soft robot driven by a cyclic triangle voltage with amplitude 7.4 kV demonstrates maximal stroke 160 mm or maximal rolling velocity 42 mm/s. The underlying mechanics and physics of foldable DE actuators can be leveraged to develop other soft machines for various applications.

  3. Sensor-based navigation of air duct inspection mobile robots

    Science.gov (United States)

    Koh, Kyoungchul; Choi, H. J.; Kim, Jae-Seon; Ko, Kuk Won; Cho, Hyungsuck

    2001-02-01

    12 This paper deals with an image sensor system and its position estimation algorithm for autonomous duct cleaning and inspection mobile robots. For the real application, a hierarchical control structure that consists of robot motion controller and image sensor system is designed considering the efficient and autonomous motion behaviors in narrow space such as air ducts. The sensor's system consists of a CCD camera and two laser sources to generate slit beams. The image of the structured lights is used for calculating the geometric parameters of the air ducts which are usually designed with a rectangular section. With the acquired 3D information about the environment, the mobile robot with two differential driving wheels is able to autonomously navigates along the duct path without any human intervention. For real time navigation, the relative position estimation of the robot are performed from 3D image reconstructed by the sensor system. The calibration and image processing methods used for the sensor system are presented with the experimental data. The experimental results show the possibility of the sensor based navigation which is important for effective duct cleaning by small mobile robots.

  4. Soft mobile robots driven by foldable dielectric elastomer actuators

    Energy Technology Data Exchange (ETDEWEB)

    Sun, Wenjie; Liu, Fan; Ma, Ziqi; Li, Chenghai; Zhou, Jinxiong, E-mail: jxzhouxx@mail.xjtu.edu.cn [State Key Laboratory for Strength and Vibration of Mechanical Structures and School of Aerospace, Xi' an Jiaotong University, Xi' an 710049 (China)

    2016-08-28

    A cantilever beam with elastic hinge pulled antagonistically by two dielectric elastomer (DE) membranes in tension forms a foldable actuator if one DE membrane is subject to a voltage and releases part of tension. Simply placing parallel rigid bars on the prestressed DE membranes results in enhanced actuators working in a pure shear state. We report design, analysis, fabrication, and experiment of soft mobile robots that are moved by such foldable DE actuators. We describe systematic measurement of the foldable actuators and perform theoretical analysis of such actuators based on minimization of total energy, and a good agreement is achieved between model prediction and measurement. We develop two versions of prototypes of soft mobile robots driven either by two sets of DE membranes or one DE membrane and elastic springs. We demonstrate locomotion of these soft mobile robots and highlight several key design parameters that influence locomotion of the robots. A 45 g soft robot driven by a cyclic triangle voltage with amplitude 7.4 kV demonstrates maximal stroke 160 mm or maximal rolling velocity 42 mm/s. The underlying mechanics and physics of foldable DE actuators can be leveraged to develop other soft machines for various applications.

  5. The Multi-Chamber Electronic Nose—An Improved Olfaction Sensor for Mobile Robotics

    Directory of Open Access Journals (Sweden)

    Javier Gonzalez-Jimenez

    2011-06-01

    Full Text Available One of the major disadvantages of the use of Metal Oxide Semiconductor (MOS technology as a transducer for electronic gas sensing devices (e-noses is the long recovery period needed after each gas exposure. This severely restricts its usage in applications where the gas concentrations may change rapidly, as in mobile robotic olfaction, where allowing for sensor recovery forces the robot to move at a very low speed, almost incompatible with any practical robot operation. This paper describes the design of a new e-nose which overcomes, to a great extent, such a limitation. The proposed e-nose, called Multi-Chamber Electronic Nose (MCE-nose, comprises several identical sets of MOS sensors accommodated in separate chambers (four in our current prototype, which alternate between sensing and recovery states, providing, as a whole, a device capable of sensing changes in chemical concentrations faster. The utility and performance of the MCE-nose in mobile robotic olfaction is shown through several experiments involving rapid sensing of gas concentration and mobile robot gas mapping.

  6. The Multi-Chamber Electronic Nose--an improved olfaction sensor for mobile robotics.

    Science.gov (United States)

    Gonzalez-Jimenez, Javier; Monroy, Javier G; Blanco, Jose Luis

    2011-01-01

    One of the major disadvantages of the use of Metal Oxide Semiconductor (MOS) technology as a transducer for electronic gas sensing devices (e-noses) is the long recovery period needed after each gas exposure. This severely restricts its usage in applications where the gas concentrations may change rapidly, as in mobile robotic olfaction, where allowing for sensor recovery forces the robot to move at a very low speed, almost incompatible with any practical robot operation. This paper describes the design of a new e-nose which overcomes, to a great extent, such a limitation. The proposed e-nose, called Multi-Chamber Electronic Nose (MCE-nose), comprises several identical sets of MOS sensors accommodated in separate chambers (four in our current prototype), which alternate between sensing and recovery states, providing, as a whole, a device capable of sensing changes in chemical concentrations faster. The utility and performance of the MCE-nose in mobile robotic olfaction is shown through several experiments involving rapid sensing of gas concentration and mobile robot gas mapping.

  7. Novel approach for mobile robot localization using monocular vision

    Science.gov (United States)

    Zhong, Zhiguang; Yi, Jianqiang; Zhao, Dongbin; Hong, Yiping

    2003-09-01

    This paper presents a novel approach for mobile robot localization using monocular vision. The proposed approach locates a robot relative to the target to which the robot moves. Two points are selected from the target as two feature points. Once the coordinates in an image of the two feature points are detected, the position and motion direction of the robot can be determined according to the detected coordinates. Unlike those reported geometry pose estimation or landmarks matching methods, this approach requires neither artificial landmarks nor an accurate map of indoor environment. It needs less computation and can simplify greatly the localization problem. The validity and flexibility of the proposed approach is demonstrated by experiments performed on real images. The results show that this new approach is not only simple and flexible but also has high localization precision.

  8. Integrated Control Strategies Supporting Autonomous Functionalities in Mobile Robots

    Directory of Open Access Journals (Sweden)

    Brandon Sights

    2006-10-01

    Full Text Available High-level intelligence allows a mobile robot to create and interpret complex world models, but without a precise control system, the accuracy of the world model and the robot's ability to interact with its surroundings are greatly diminished. This problem is amplified when the environment is hostile, such as in a battlefield situation where an error in movement or a slow response may lead to destruction of the robot. As the presence of robots on the battlefield continues to escalate and the trend toward relieving the human of the low-level control burden advances, the ability to combine the functionalities of several critical control systems on a single platform becomes imperative.

  9. Optimal Path Planner for Mobile Robot in 2D Environment

    Directory of Open Access Journals (Sweden)

    Valeri Kroumov

    2004-06-01

    Full Text Available The problem of path planning for the case of a mobile robot moving in an environment filled with obstacles with known shapes and positions is studied. A path planner based on the genetic algorithm approach, which generates optimal in length path is proposed. The population member paths are generated by another algorithm, which uses for description of the obstacles an artificial annealing neural network and is based on potential field approach. The resulting path is piecewise linear with changing directions at the corners of the obstacles. Because of this feature, the inverse kinematics problems in controlling differential drive robots are simply solved: to drive the robot to some goal pose (x, y, theta, the robot can be spun in place until it is aimed at (x, y, then driven forward until it is at (x, y, and then spun in place until the required goal orientation

  10. Monocular vision based navigation method of mobile robot

    Institute of Scientific and Technical Information of China (English)

    DONG Ji-wen; YANG Sen; LU Shou-yin

    2009-01-01

    A trajectory tracking method is presented for the visual navigation of the monocular mobile robot. The robot move along line trajectory drawn beforehand, recognized and stop on the stop-sign to finish special task. The robot uses a forward looking colorful digital camera to capture information in front of the robot, and by the use of HSI model partition the trajectory and the stop-sign out. Then the "sampling estimate" method was used to calculate the navigation parameters. The stop-sign is easily recognized and can identify 256 different signs. Tests indicate that the method can fit large-scale intensity of brightness and has more robustness and better real-time character.

  11. Integrated Control Strategies Supporting Autonomous Functionalities in Mobile Robots

    Directory of Open Access Journals (Sweden)

    Brandon Sights

    2006-10-01

    Full Text Available High-level intelligence allows a mobile robot to create and interpret complex world models, but without a precise control system, the accuracy of the world model and the robot's ability to interact with its surroundings are greatly diminished. This problem is amplified when the environment is hostile, such as in a battlefield situation where an error in movement or a slow response may lead to destruction of the robot. As the presence of robots on the battlefield continues to escalate and the trend toward relieving the human of the low-level control burden advances, the ability to combine the functionalities of several critical control systems on a single platform becomes imperative.

  12. Collaboration Layer for Robots in Mobile Ad-hoc Networks

    DEFF Research Database (Denmark)

    Borch, Ole; Madsen, Per Printz; Broberg, Jacob Honor´e

    2009-01-01

    In many applications multiple robots in Mobile Ad-hoc Networks are required to collaborate in order to solve a task. This paper shows by proof of concept that a Collaboration Layer can be modelled and designed to handle the collaborative communication, which enables robots in small to medium size...... networks to solve tasks collaboratively. In this proposal the Collaboration Layer is modelled to handle service and position discovery, group management, and synchronisation among robots, but the layer is also designed to be extendable. Based on this model of the Collaboration Layer, generic services....... A prototype of the Collaboration Layer has been developed to run in a simulated environment and tested in an evaluation scenario. In the scenario five robots solve the tasks of vacuum cleaning and entrance guarding, which involves the ability to discover potential co-workers, form groups, shift from one group...

  13. A novel method for mobile robot simultaneous localization and mapping

    Institute of Scientific and Technical Information of China (English)

    LI Mao-hai; HONG Bing-rong; LUO Rong-hua; WEI Zhen-hua

    2006-01-01

    A novel mobile robot simultaneous localization and mapping (SLAM) method is implemented by using the RaoBlackwellized particle filter (RBPF) for monocular vision-based autonomous robot in unknown indoor environment. The particle filter combined with unscented Kalman filter (UKF) for extending the path posterior by sampling new poses integrating the current observation. Landmark position estimation and update is implemented through UKF. Furthermore, the number of resampling steps is determined adaptively, which greatly reduces the particle depletion problem. Monocular CCD camera mounted on the robot tracks the 3D natural point landmarks structured with matching image feature pairs extracted through Scale Invariant Feature Transform (SIFT). The matching for multi-dimension SIFT features which are highly distinctive due to a special descriptor is implemented with a KD-Tree. Experiments on the robot Pioneer3 showed that our method is very precise and stable.

  14. Fuzzy Logic Supervised Teleoperation Control for Mobile Robot

    Institute of Scientific and Technical Information of China (English)

    2008-01-01

    The supervised teleoperation control is presented for a mobile robot to implement the tasks by using fuzzy logic. The teleoperation control system includes joystick based user interaction mechanism, the high level instruction set and fuzzy logic behaviors integrated in a supervised autonomy teleoperation control system for indoor navigation. These behaviors include left wall following, right wall following, turn left, turn right, left obstacle avoidance, right obstacle avoidance and corridor following based on ultrasonic range finders data. The robot compares the instructive high level command from the operator and relays back a suggestive signal back to the operator in case of mismatch between environment and instructive command. This strategy relieves the operator's cognitive burden, handle unforeseen situations and uncertainties of environment autonomously. The effectiveness of the proposed method for navigation in an unstructured environment is verified by experiments conducted on a mobile robot equipped with only ultrasonic range finders for environment sensing.

  15. Control of a mobile robot through brain computer interface

    Directory of Open Access Journals (Sweden)

    Robinson Jimenez Moreno

    2015-07-01

    Full Text Available This paper poses a control interface to command the movement of a mobile robot according to signals captured from the user's brain. These signals are acquired and interpreted by Emotiv EPOC device, a 14-electrode type sensor which captures electroencephalographic (EEG signals with high resolution, which, in turn, are sent to a computer for processing. One brain-computer interface (BCI was developed based on the Emotiv software and SDK in order to command the mobile robot from a distance. Functionality tests are performed with the sensor to discriminate shift intentions of a user group, as well as with a fuzzy controller to hold the direction in case of concentration loss. As conclusion, it was possible to obtain an efficient system for robot movements by brain commands.

  16. Mobile robots exploration through cnn-based reinforcement learning.

    Science.gov (United States)

    Tai, Lei; Liu, Ming

    2016-01-01

    Exploration in an unknown environment is an elemental application for mobile robots. In this paper, we outlined a reinforcement learning method aiming for solving the exploration problem in a corridor environment. The learning model took the depth image from an RGB-D sensor as the only input. The feature representation of the depth image was extracted through a pre-trained convolutional-neural-networks model. Based on the recent success of deep Q-network on artificial intelligence, the robot controller achieved the exploration and obstacle avoidance abilities in several different simulated environments. It is the first time that the reinforcement learning is used to build an exploration strategy for mobile robots through raw sensor information.

  17. Distributed Receding Horizon Coverage Control by Multiple Mobile Robots

    Directory of Open Access Journals (Sweden)

    Fatemeh Mohseni

    2013-09-01

    Full Text Available This paper presents a distributed receding horizon coverage control algorithm to control a group of mobile robots having linear dynamics with the assumption that the robot dynamics are decoupled from each other. The objective of the coverage algorithm considered here is to maximize the detection of the occurrence of the events. First the authors introduce a centralized receding horizon coverage control and then they introduce a distributed version of it. To avoid the common disadvantages that are associated with the centralized approach, the problem is then decomposed into several RHCC problems, each associated with a particular robot, that are solved using distributed techniques. In order to solve each RHCC, each robot needs to know the trajectories of its neighbors during the optimization time interval. Since this information is not available, an algorithm is presented to estimate the trajectory of the neighboring robots. To minimize the estimation error, a compatibility constraint, which is also a key requirement in the closed-loop stability analysis, is considered. Moreover, the proof of the close-loop stability of this distributed version is provided and shows that the location of the robots will indeed converge to the centroids of a Voronoi partition. Simulation results validate the algorithm and the convergence of the robots to the centroidal Voronoi configuration.

  18. Path following mobile robot in the presence of velocity constraints

    DEFF Research Database (Denmark)

    Bak, Martin; Poulsen, Niels Kjølstad; Ravn, Ole

    2001-01-01

    This paper focuses on path following algorithms for mobile robots with velocity constraints on the wheels. The path considered consists of straight lines intersected with given angles. We present a fast real-time receding horizon controller which anticipates the intersections and smoothly control...

  19. Experimental Fault Detection and Accomodation for an Agricultural Mobile Robot

    DEFF Research Database (Denmark)

    Østergaard, Kasper Zinck; Vinther, D.; Bisgaard, Morten;

    2005-01-01

    This paper presents a systematic procedure to achieve fault tolerant capability for a four-wheel driven, four-wheel steered mobile robot moving in outdoor terrain. The procedure is exemplified through the paper by applying on a compass module. Detailed methods for fault detection and fault...

  20. Homography-based visual servo regulation of mobile robots.

    Science.gov (United States)

    Fang, Yongchun; Dixon, Warren E; Dawson, Darren M; Chawda, Prakash

    2005-10-01

    A monocular camera-based vision system attached to a mobile robot (i.e., the camera-in-hand configuration) is considered in this paper. By comparing corresponding target points of an object from two different camera images, geometric relationships are exploited to derive a transformation that relates the actual position and orientation of the mobile robot to a reference position and orientation. This transformation is used to synthesize a rotation and translation error system from the current position and orientation to the fixed reference position and orientation. Lyapunov-based techniques are used to construct an adaptive estimate to compensate for a constant, unmeasurable depth parameter, and to prove asymptotic regulation of the mobile robot. The contribution of this paper is that Lyapunov techniques are exploited to craft an adaptive controller that enables mobile robot position and orientation regulation despite the lack of an object model and the lack of depth information. Experimental results are provided to illustrate the performance of the controller.

  1. Teaching Robotics Software with the Open Hardware Mobile Manipulator

    Science.gov (United States)

    Vona, M.; Shekar, N. H.

    2013-01-01

    The "open hardware mobile manipulator" (OHMM) is a new open platform with a unique combination of features for teaching robotics software and algorithms. On-board low- and high-level processors support real-time embedded programming and motor control, as well as higher-level coding with contemporary libraries. Full hardware designs and…

  2. An appearance-based visual compass for mobile robots

    NARCIS (Netherlands)

    Sturm, J.; Visser, A.

    2009-01-01

    Localization is one of the most important basic skills of a mobile robot. Most approaches, however, still rely either on special sensors or require artificial environments. In this article, a novel approach is presented that can provide compass information for localization, purely based on the visua

  3. An appearance-based visual compass for mobile robots

    NARCIS (Netherlands)

    Sturm, J.; Visser, A.

    2009-01-01

    Localization is one of the most important basic skills of a mobile robot. Most approaches, however, still rely either on special sensors or require artificial environments. In this article, a novel approach is presented that can provide compass information for localization, purely based on the visua

  4. Sub-optimality analysis of mobile robot rolling path planning

    Institute of Scientific and Technical Information of China (English)

    张纯刚; 席裕庚

    2003-01-01

    Rolling planning is an efficient method for path planning in uncertain environment. In this paper, the general principle and algorithm of mobile robot path planning based on rolling windows are studied. The sub-optimality of rolling path planning is analyzed in details and explained with a concrete example.

  5. Is the Mobile Phone a Personalized Social Robot?

    Directory of Open Access Journals (Sweden)

    Jane Vincent

    2013-01-01

    Full Text Available This paper explores how some people use their mobile phone to manage their emotions and presentation of self to such an extent that they develop a strong bond with it, turning to it first in times of emotional need. It examines how some social robots, designed by experts to provide bespoke emotional support, can address only particular emotional problems. This is further examined by contrasting the electronic emotions managed via the mobile phone with the uses for three social robots: Amazing Ally, KASPAR and Paro. Unlike these robots, that are effective only when responding to certain pre-programmed emotions, the mobile phone appears to be a constant companion dealing with every eventuality. Imbued with the user’s feelings and emotions that surround the continuous and always on presence of the device, the user constantly turns to it for solace, to share joyous moments, recall special memories and more. The resulting close emotional and physical association with a device that is filled with the personal biography of its user is that the mobile phone becomes like a personal social robot; a co-construction of functional machine and intimate emotional experiences known only to the user.

  6. Teaching Robotics Software with the Open Hardware Mobile Manipulator

    Science.gov (United States)

    Vona, M.; Shekar, N. H.

    2013-01-01

    The "open hardware mobile manipulator" (OHMM) is a new open platform with a unique combination of features for teaching robotics software and algorithms. On-board low- and high-level processors support real-time embedded programming and motor control, as well as higher-level coding with contemporary libraries. Full hardware designs and…

  7. Learning feedforward controller for a mobile robot vehicle

    NARCIS (Netherlands)

    Starrenburg, J.G.; Starrenburg, J.G.; van Luenen, W.T.C.; van Luenen, W.T.C.; Oelen, W.; Oelen, W.; van Amerongen, J.

    1996-01-01

    This paper describes the design and realisation of an on-line learning posetracking controller for a three-wheeled mobile robot vehicle. The controller consists of two components. The first is a constant-gain feedback component, designed on the basis of a second-order model. The second is a learning

  8. Localization Using Magnetic Patterns for Autonomous Mobile Robot

    Directory of Open Access Journals (Sweden)

    Won Suk You

    2014-03-01

    Full Text Available In this paper, we present a method of localization using magnetic landmarks. With this method, it is possible to compensate the pose error (xe, ye, θe of a mobile robot correctly and localize its current position on a global coordinate system on the surface of a structured environment with magnetic landmarks. A set of four magnetic bars forms total six different patterns of landmarks and these patterns can be read by the mobile robot with magnetic hall sensors. A sequential motion strategy for a mobile robot is proposed to find the geometric center of magnetic landmarks by reading the nonlinear magnetic field.The mobile robot first moves into the center region of the landmark where it can read the magnetic pattern, after which tracking and global localization can be easily achieved by recognizing the patterns of neighboring landmarks. Experimental results show the effectiveness of the sequential motion strategy for estimating the center of the first encountered landmark as well as the performance of tracking and global localization of the proposed system.

  9. Control design for a mobile robot including tire behavior

    NARCIS (Netherlands)

    Ploeg, J.; Schouten, H.E.; Nijmeijer, H.

    2008-01-01

    In order to support the development process of Advanced Driver Assistance systems for road vehicles, TNO is operating a hardware-in-the-loop test setup. In this facility, called VeHIL, vehicles in the direct neighborhood of the test vehicle are simulated using wheeled mobile robots. Due to the requi

  10. Remote-controlled vision-guided mobile robot system

    Science.gov (United States)

    Ande, Raymond; Samu, Tayib; Hall, Ernest L.

    1997-09-01

    Automated guided vehicles (AGVs) have many potential applications in manufacturing, medicine, space and defense. The purpose of this paper is to describe exploratory research on the design of the remote controlled emergency stop and vision systems for an autonomous mobile robot. The remote control provides human supervision and emergency stop capabilities for the autonomous vehicle. The vision guidance provides automatic operation. A mobile robot test-bed has been constructed using a golf cart base. The mobile robot (Bearcat) was built for the Association for Unmanned Vehicle Systems (AUVS) 1997 competition. The mobile robot has full speed control with guidance provided by a vision system and an obstacle avoidance system using ultrasonic sensors systems. Vision guidance is accomplished using two CCD cameras with zoom lenses. The vision data is processed by a high speed tracking device, communicating with the computer the X, Y coordinates of blobs along the lane markers. The system also has three emergency stop switches and a remote controlled emergency stop switch that can disable the traction motor and set the brake. Testing of these systems has been done in the lab as well as on an outside test track with positive results that show that at five mph the vehicle can follow a line and at the same time avoid obstacles.

  11. Adaptive Leader-Follower Formation Control for Autonomous Mobile Robots

    NARCIS (Netherlands)

    Guo, Jing; Lin, Zhiyun; Cao, Ming; Yan, Gangfeng

    2010-01-01

    In this paper, adaptive formation control is addressed for a network of autonomous mobile robots in which there are only two leaders knowing the prescribed reference velocity while the others just play the role of followers. Assuming that each follower has only two neighbors to form a cascade interc

  12. Mobile robots for the nuclear industry - A 1990 status report

    Energy Technology Data Exchange (ETDEWEB)

    Meieran, H.B.

    1990-01-01

    Mobile robots with and without manipulating arms have been available for use in radioactive environments for almost 30 yr. Their use commenced in the early 1960s with a family of mobile robots manufactured by the PAR Corporation (now the PAR division of CIMCORP). It was a tethered, two-tracked teleoperator-controlled vehicle that supported one master-slave manipulating arm. The durability of this device is continuing to be demonstrated by HERMAN, which is currently on standby availability at the Oak Ridge National Laboratory (ORNL) to respond to emergency situations by supporting mitigating actions at scenes of incidents that involve the release of radioactive material. Mobile robots are being employed in a spectrum of locations in many reactors and other nuclear installations. This paper presents the current status of the use of mobile robots in the nuclear industry and describes currently contemplated missions, with examples, that are being or will be conducted on terrestrial surfaces, underwater, in pipeline locations, and through the air.

  13. Prototype Sistem Kendali Otomatis Robot Mobil untuk Parkir Pintar Menggunakan Komunikasi Nirkabel

    Directory of Open Access Journals (Sweden)

    Pande Mastra Sedana

    2016-11-01

    Full Text Available Teknologi robotika telah berkembang pesat untuk membantu kerja masyarakat dengan mesin sesuai kebutuhan. Sesuai tujuan dasar dari pengembangan teknologi robotika yaitu untuk membantu manusia dalam mengerjakan pekerjaan yang membutuhkan keakuratan tinggi, memiliki resiko tinggi, dan pekerjaan yang dilakukan berulang-ulang. Salah satu aplikasi teknologi robotika yang berhubungan dengan sistem kontrol adalah prototype dari sistem kendali otomatis robot mobil untuk parkir pintar menggunakan komunikasi nirkabel. Sistem ini menggunakan bluetooth HC-05 berbasis sistem kontrol ATmega32. Bluetooth HC-05 bertindak sebagai media komunikasi nirkabel yang menghubungkan robot mobil dengan smartphone. Sistem kontrol Atmega32 pada robot mobil menerima data input melalui sensor jarak, sensor garis, tombol dan smartphone. Hasil yang telah diproses pada sistem kontrol robot mobil ditransmisikan kembali ke smartphone. Sistem kontrol pada robot mobil dapat mengendalikan driver motor sehingga motor dc berputar dan robot mobil bergerak. Motor dc merupakan bagian dari robot mobil yang memungkinkan mobil tersebut untuk bergerak dan bermanuver. Hasil akhir yang dicapai melalui penelitian ini adalah sistem komunikasi nirkabel yang dapat mengkontrol pergerakan pada robot mobil, membaca jarak pada sisi depan robot mobil, kiri dan kanan, membaca nilai dari sensor garis robot mobil, bergerak maju, mundur, berbelok ke kiri dan kanan sesuai dengan data yang diterima sensor. Pergerakan dari robot mobil dapat diatur baik secara manual maupun otomatis.

  14. Mobile app for human-interaction with sitter robots

    Science.gov (United States)

    Das, Sumit Kumar; Sahu, Ankita; Popa, Dan O.

    2017-05-01

    Human environments are often unstructured and unpredictable, thus making the autonomous operation of robots in such environments is very difficult. Despite many remaining challenges in perception, learning, and manipulation, more and more studies involving assistive robots have been carried out in recent years. In hospital environments, and in particular in patient rooms, there are well-established practices with respect to the type of furniture, patient services, and schedule of interventions. As a result, adding a robot into semi-structured hospital environments is an easier problem to tackle, with results that could have positive benefits to the quality of patient care and the help that robots can offer to nursing staff. When working in a healthcare facility, robots need to interact with patients and nurses through Human-Machine Interfaces (HMIs) that are intuitive to use, they should maintain awareness of surroundings, and offer safety guarantees for humans. While fully autonomous operation for robots is not yet technically feasible, direct teleoperation control of the robot would also be extremely cumbersome, as it requires expert user skills, and levels of concentration not available to many patients. Therefore, in our current study we present a traded control scheme, in which the robot and human both perform expert tasks. The human-robot communication and control scheme is realized through a mobile tablet app that can be customized for robot sitters in hospital environments. The role of the mobile app is to augment the verbal commands given to a robot through natural speech, camera and other native interfaces, while providing failure mode recovery options for users. Our app can access video feed and sensor data from robots, assist the user with decision making during pick and place operations, monitor the user health over time, and provides conversational dialogue during sitting sessions. In this paper, we present the software and hardware framework that

  15. Lyndon B. Johnson Space Center (JSC) proposed dual-use technology investment program in intelligent robots

    Science.gov (United States)

    Erikson, Jon D.

    1994-01-01

    This paper presents an overview of the proposed Lyndon B. Johnson Space Center (JSC) precompetitive, dual-use technology investment project in robotics. New robotic technology in advanced robots, which can recognize and respond to their environments and to spoken human supervision so as to perform a variety of combined mobility and manipulation tasks in various sectors, is an obejective of this work. In the U.S. economy, such robots offer the benefits of improved global competitiveness in a critical industrial sector; improved productivity by the end users of these robots; a growing robotics industry that produces jobs and profits; lower cost health care delivery with quality improvements; and, as these 'intelligent' robots become acceptable throughout society, an increase in the standard of living for everyone. In space, such robots will provide improved safety, reliability, and productivity as Space Station evolves, and will enable human space exploration (by human/robot teams). The proposed effort consists of partnerships between manufacturers, universities, and JSC to develop working production prototypes of these robots by leveraging current development by both sides. Currently targeted applications are in the manufacturing, health care, services, and construction sectors of the U.S. economy and in the inspection, servicing, maintenance, and repair aspects of space exploration. But the focus is on the generic software architecture and standardized interfaces for custom modules tailored for the various applications allowing end users to customize a robot as PC users customize PC's. Production prototypes would be completed in 5 years under this proposal.

  16. Making Sense of Mobile Technology

    Directory of Open Access Journals (Sweden)

    David Pauleen

    2015-04-01

    Full Text Available Mobile technologies have facilitated a radical shift in work and private life. In this article, we seek to better understand how individual mobile technology users have made sense of these changes and adapted to them. We have used narrative enquiry and sensemaking to collect and analyze the data. The findings show that mobile technology use blurs the boundaries between work and private life, making traditional time and place distinctions less relevant. Furthermore, work and private life can be integrated in ways that may be either competitive or complementary. We also observed an effect rarely discussed in the literature—the way personal and professional aspirations affect how work and private life are integrated. Implications include the need for researchers and organizations to understand the wider consequences that arise from the integration of work and private life roles.

  17. A Novel Camera Based Mobile Robot With Obstacle Avoidance And Fire Extinguish Control

    Directory of Open Access Journals (Sweden)

    S.Vivekanadan

    2016-04-01

    Full Text Available The project is based on mobile wireless robot technology that performs the dual operation as obstacle avoidance and fire extinguish. The sensors used here are ultrasonic sensor for obstacle avoidance and flame sensor to detect the fire. Here, the signals are received by an Arduino board for controlling the robot. The motor drives are used to drive the robot. A wireless monitoring system is used to display the present scenario.in detail It is a robot that autonomously detects and extinguish fire. It uses flame sensor for detection of fire, also ultrasonic sensor to detect obstacles and Arduino board for processing. The Fire extinguisher along with actuator is used to extinguishing the fire which is been detected. The robot continuously scans for fire. This scanning is performed by Flame sensors placed on the sides When a fire is detected, it moves in the direction of fire and stops in front of it and trigger the extinguisher to turn out the fire.In order to achieve the extinguish process a robot has arm with Electronic valve and a motor is used along with the body to change the angle of the arm. This arm and motor can be controlled by the Arduino. The power source for the robot comes from a battery.

  18. A Study on Bipedal and Mobile Robot Behavior Through Modeling and Simulation

    OpenAIRE

    Nirmala Nirmala; Prianggada Indra Tanaya; Maralo Sinaga

    2015-01-01

    The purpose of this work is to study and analyze mobile robot behavior. In performing this, a framework is adopted and developed for mobile and bipedal robot. The robots are design, build, and run as proceed from the development of mechanical structure, electronics and control integration, and control software application. The behavior of those robots are difficult to be observed and analyzed qualitatively. To evaluate the design and behavior quality, modeling and simulation of robot structur...

  19. A PSO-Optimized Reciprocal Velocity Obstacles Algorithm for Navigation of Multiple Mobile Robots

    OpenAIRE

    Ziyad Allawi; Turki Abdalla

    2015-01-01

    In this paper, a new optimization method for the Reciprocal Velocity Obstacles (RVO) is proposed. It uses the well-known Particle Swarm Optimization (PSO) for navigation control of multiple mobile robots with kinematic constraints. The RVO is used for collision avoidance between the robots, while PSO is used to choose the best path for the robot maneuver to avoid colliding with other robots and to get to its goal faster. This method was applied on 24 mobile robots facing each other. Simulatio...

  20. Sensor and actuator modeling of a realistic wheeled mobile robot simulator

    OpenAIRE

    José Gonçalves; José Lima; Hélder Filipe Pinto de Oliveira; Paulo José Cerqueira Gomes da Costa

    2008-01-01

    This paper describes the sensor and actuator modelingof a realistic wheeled mobile robot simulator. The motivationof developing such simulator is to produce a personalizedversatile tool that allows production and validationof robot software reducing considerably the developmenttime. The mobile robot simulator was developed in ObjectPascal with its dynamics based on the ODE (OpenDynamics Engine), allowing to develop robot software fora three wheel omnidirectional robot equipped with Infra-Red ...

  1. Development of robotic mobility for infants: rationale and outcomes.

    Science.gov (United States)

    Larin, Hélène M; Dennis, Carole W; Stansfield, Sharon

    2012-09-01

    To assess the feasibility of a robotic mobility device for infants using alternative control interfaces aimed at promoting early self-initiated mobility, and to assess the effects of a training protocol and robot experience. Observational and pre-post quantitative case studies. Standardised, research laboratory and day-care centres with toys and individuals familiar to infants. Children with and without disabilities, aged 5 months to 3 years. In each study, infants were seated over a Pioneer™ 3-DX mobile robot. Some infants controlled the directional movement of the robot by weight shifting their body on a Nintendo® Wii™ Balance Board (the WeeBot), while others used a modified joystick. Infants participated in five sessions over 2 to 5 weeks. Sessions consisted of administering a 10-minute training protocol preceded and followed by 2 to 3 minutes of free play. One child with motor impairment used a button switch array and a different experimental design. From the videotaped free-play periods, goal-directed behaviours were coded and time in motion was measured. In the training period, a scoring system was developed to measure the infants' driving performance. Preliminary outcomes indicate that infants without disabilities, aged 5 to 10 months, demonstrated significant improvement in driving performance and goal-directed movement using the WeeBot. Infants who used the joystick were less successful on all measures. Results for infants with disabilities using the WeeBot were mixed. Mobile robots offer promise to enhance the development of early self-mobility. Novel types of interfaces, such as the WeeBot, warrant further investigation. Copyright © 2012 Chartered Society of Physiotherapy. Published by Elsevier Ltd. All rights reserved.

  2. Mobile Technologies Adoption: An Exploratory Case Study

    Institute of Scientific and Technical Information of China (English)

    CHU Yan; HUANG Lihua

    2008-01-01

    Based on the theory of task-technology fit and literature review of mobile technology acceptance, a research model is presented based on the features of mobile technologies and the actual usage of mobile applications in business environments, which identifies the characteristics of mobile applications and fitting tasks. An exploratory case is studied to understand how ABC Company, Hong Kong, utilizes mobile selling applications in their sales management process. This study gives some managerial suggestions for enterprises to successfully use mobile applications.

  3. An Agent Driven Human-centric Interface for Autonomous Mobile Robots

    Science.gov (United States)

    2003-01-01

    An Agent Driven Human-centric Interface for Autonomous Mobile Robots Donald Sofge, Dennis Perzanowski, Magdalena Bugajska, William Adams...Human-centric, Multimodal, Dynamic Autonomy, CoABS Grid, Mobile Robots 1. INTRODUCTION One of the challenges in implementing dynamically...autonomous behaviors in mobile robots is achieving a truly human-centric interface so that human operators can interact with the robots as naturally as they

  4. Hazard Avoidance for High-Speed Mobile Robots in Rough Terrain

    Science.gov (United States)

    2006-05-01

    Accepted to the Journal of Field Robotics 1 Hazard Avoidance for High-Speed Mobile Robots in Rough Terrain Matthew Spenko, Yoji Kuroda, Steven...COVERED 00-00-2006 to 00-00-2006 4. TITLE AND SUBTITLE Hazard Avoidance for High-Speed Mobile Robots in Rough Terrain 5a. CONTRACT NUMBER 5b...Fundamentals of vehicle dynamics. Warrendale, PA: Society of Automotive Engineers. Golda, D. (2003). Modeling and analysis of high-speed mobile robots operating

  5. Intelligent control and cooperation for mobile robots

    Science.gov (United States)

    Stingu, Petru Emanuel

    The topic discussed in this work addresses the current research being conducted at the Automation & Robotics Research Institute in the areas of UAV quadrotor control and heterogenous multi-vehicle cooperation. Autonomy can be successfully achieved by a robot under the following conditions: the robot has to be able to acquire knowledge about the environment and itself, and it also has to be able to reason under uncertainty. The control system must react quickly to immediate challenges, but also has to slowly adapt and improve based on accumulated knowledge. The major contribution of this work is the transfer of the ADP algorithms from the purely theoretical environment to the complex real-world robotic platforms that work in real-time and in uncontrolled environments. Many solutions are adopted from those present in nature because they have been proven to be close to optimal in very different settings. For the control of a single platform, reinforcement learning algorithms are used to design suboptimal controllers for a class of complex systems that can be conceptually split in local loops with simpler dynamics and relatively weak coupling to the rest of the system. Optimality is enforced by having a global critic but the curse of dimensionality is avoided by using local actors and intelligent pre-processing of the information used for learning the optimal controllers. The system model is used for constructing the structure of the control system, but on top of that the adaptive neural networks that form the actors use the knowledge acquired during normal operation to get closer to optimal control. In real-world experiments, efficient learning is a strong requirement for success. This is accomplished by using an approximation of the system model to focus the learning for equivalent configurations of the state space. Due to the availability of only local data for training, neural networks with local activation functions are implemented. For the control of a formation

  6. A Switching Controller System for a Wheeled Mobile Robot

    Institute of Scientific and Technical Information of China (English)

    Masanori Sato; Atushi Kanda; Kazuo Ishii

    2007-01-01

    A wheeled mobile mechanism with a passive and/or active linkage mechanism for rough terrain environment is developed and evaluated. The wheeled mobile mechanism which has high mobility in rough terrain needs sophisticated system to adapt various environments.We focus on the development of a switching controller system for wheeled mobile robots in rough terrain. This system consists of two sub-systems: an environment recognition system using link angles and an adaptive control system. In the environment recognition system, we introduce a Self-Organizing Map (SOM) for clustering link angles. In the adaptive controllers, we introduce neural networks to calculate the inverse model of the wheeled mobile robot.The environment recognition system can recognize the environment in which the robot travels, and the adjustable controllers are tuned by experimental results for each environment. The dual sub-system switching controller system is experimentally evaluated. The system recognizes its environment and adapts by switching the adjustable controllers. This system demonstrates superior performance to a well-tuned single PID controller.

  7. Bringing robotics technology down to Earth

    Energy Technology Data Exchange (ETDEWEB)

    Fuller, B.R. [Spar Environmental Systems, Brampton, Ontario (Canada)

    1997-03-01

    Robotics technology is successfully being transitioned from space to terrestrial applications. It is being modified and enhanced to help in the US DOE`s Environmental Restoration and Waste Management Program. Some examples of these applications, ranging from large multijointed manipulators to autonomously navigated remote vehicles, are outlined in this article. They include the following: underground storage tank technology demonstration; light-duty utility arm system; remotely controlled material-handling system; remotely operated excavator; self-guided transfer vehicle. 10 figs.

  8. Mobile Robotic Teams Applied to Precision Agriculture

    Energy Technology Data Exchange (ETDEWEB)

    M.D. McKay; M.O. Anderson; N.S. Flann (Utah State University); R.A. Kinoshita; R.W. Gunderson; W.D. Willis (INEEL)

    1999-04-01

    The Idaho National Engineering and Environmental Laboratory (INEEL) and Utah State University�s Center for Self-Organizing and Intelligent Systems (CSOIS) have developed a team of autonomous robotic vehicles applicable to precision agriculture. A unique technique has been developed to plan, coordinate, and optimize missions in large structured environments for these autonomous vehicles in real-time. Two generic tasks are supported: 1) Driving to a precise location, and 2) Sweeping an area while activating on-board equipment. Sensor data and task achievement data is shared among the vehicles enabling them to cooperatively adapt to changing environmental, vehicle, and task conditions. This paper discusses the development of the autonomous robotic team, details of the mission-planning algorithm, and successful field demonstrations at the INEEL.

  9. Mobile Robotic Teams Applied to Precision Agriculture

    Energy Technology Data Exchange (ETDEWEB)

    Anderson, Matthew Oley; Kinoshita, Robert Arthur; Mckay, Mark D; Willis, Walter David; Gunderson, R.W.; Flann, N.S.

    1999-04-01

    The Idaho National Engineering and Environmental Laboratory (INEEL) and Utah State University’s Center for Self-Organizing and Intelligent Systems (CSOIS) have developed a team of autonomous robotic vehicles applicable to precision agriculture. A unique technique has been developed to plan, coordinate, and optimize missions in large structured environments for these autonomous vehicles in realtime. Two generic tasks are supported: 1) Driving to a precise location, and 2) Sweeping an area while activating on-board equipment. Sensor data and task achievement data is shared among the vehicles enabling them to cooperatively adapt to changing environmental, vehicle, and task conditions. This paper discusses the development of the autonomous robotic team, details of the mission-planning algorithm, and successful field demonstrations at the INEEL.

  10. Recognizing and interpreting gestures on a mobile robot

    Energy Technology Data Exchange (ETDEWEB)

    Kortenkamp, D.; Huber, E.; Bonasso, R.P. [Metrica, Inc., NASA Johnson Space Center, Houston, TX (United States)

    1996-12-31

    Gesture recognition is an important skill for robots that work closely with humans. Gestures help to clarify spoken commands and are a compact means of relaying geometric information. We have developed a real-time, three-dimensional gesture recognition system that resides on-board a mobile robot. Using a coarse three-dimensional model of a human to guide stereo measurements of body parts, the system is capable of recognizing six distinct gestures made by an unadorned human in an unaltered environment. An active vision approach focuses the vision system`s attention on small, moving areas of space to allow for frame rate processing even when the person and/or the robot are moving. This paper describes the gesture recognition system, including the coarse model and the active vision approach. This paper also describes how the gesture recognition system is integrated with an intelligent control architecture to allow for complex gesture interpretation and complex robot action. Results from experiments with an actual mobile robot are given.

  11. Robust and efficient vision system for group of cooperating mobile robots with application to soccer robots.

    Science.gov (United States)

    Klancar, Gregor; Kristan, Matej; Kovacic, Stanislav; Orqueda, Omar

    2004-07-01

    In this paper a global vision scheme for estimation of positions and orientations of mobile robots is presented. It is applied to robot soccer application which is a fast dynamic game and therefore needs an efficient and robust vision system implemented. General applicability of the vision system can be found in other robot applications such as mobile transport robots in production, warehouses, attendant robots, fast vision tracking of targets of interest and entertainment robotics. Basic operation of the vision system is divided into two steps. In the first, the incoming image is scanned and pixels are classified into a finite number of classes. At the same time, a segmentation algorithm is used to find corresponding regions belonging to one of the classes. In the second step, all the regions are examined. Selection of the ones that are a part of the observed object is made by means of simple logic procedures. The novelty is focused on optimization of the processing time needed to finish the estimation of possible object positions. Better results of the vision system are achieved by implementing camera calibration and shading correction algorithm. The former corrects camera lens distortion, while the latter increases robustness to irregular illumination conditions.

  12. Behaviour based Mobile Robot Navigation Technique using AI System: Experimental Investigation on Active Media Pioneer Robot

    Directory of Open Access Journals (Sweden)

    S. Parasuraman, V.Ganapathy

    2012-10-01

    Full Text Available A key issue in the research of an autonomous robot is the design and development of the navigation technique that enables the robot to navigate in a real world environment. In this research, the issues investigated and methodologies established include (a Designing of the individual behavior and behavior rule selection using Alpha level fuzzy logic system  (b Designing of the controller, which maps the sensors input to the motor output through model based Fuzzy Logic Inference System and (c Formulation of the decision-making process by using Alpha-level fuzzy logic system. The proposed method is applied to Active Media Pioneer Robot and the results are discussed and compared with most accepted methods. This approach provides a formal methodology for representing and implementing the human expert heuristic knowledge and perception-based action in mobile robot navigation. In this approach, the operational strategies of the human expert driver are transferred via fuzzy logic to the robot navigation in the form of a set of simple conditional statements composed of linguistic variables.Keywards: Mobile robot, behavior based control, fuzzy logic, alpha level fuzzy logic, obstacle avoidance behavior and goal seek behavior

  13. Dynamic modeling and simulation for nonholonomic welding mobile robot

    Institute of Scientific and Technical Information of China (English)

    2007-01-01

    Based on the Newton-Euler method, the dynamic behaviors of the left and right driving wheels and the robot body for the welding mobile robot were derived. In order to realize the combination control of body turning and slider adjustment, the dynamic behaviors of sliders were also investigated. As a result, a systematic and complete dynamic model for the welding mobile robot was constructed. In order to verify the effectiveness of the above model, a sliding mode tracking control method was proposed and simulated, the lateral error stabilizes between -0.2 mm and +0.2 mm, and the total distance of travel for the slider is consistently within ±2 mm. The simulation results verify the effectiveness of the established dynamic model and also show that the seam tracking controller based on the dynamic model has excellent performance in terms of stability and robustness. Furthermore, the model is found to be very suitable for practical applications of the welding mobile robot.

  14. A Taxonomy of Vision Systems for Ground Mobile Robots

    Directory of Open Access Journals (Sweden)

    Jesus Martínez-Gómez

    2014-07-01

    Full Text Available This paper introduces a taxonomy of vision systems for ground mobile robots. In the last five years, a significant number of relevant papers have contributed to this subject. Firstly, a thorough review of the papers is proposed to discuss and classify both past and the most current approaches in the field. As a result, a global picture of the state of the art of the last five years is obtained. Moreover, the study of the articles is used to put forward a comprehensive taxonomy based on the most up-to-date research in ground mobile robotics. In this sense, the paper aims at being especially helpful to both budding and experienced researchers in the areas of vision systems and mobile ground robots. The taxonomy described is devised from a novel perspective, namely in order to respond to the main questions posed when designing robotic vision systems: why?, what for?, what with?, how?, and where? The answers are derived from the most relevant techniques described in the recent literature, leading in a natural way to a series of classifications that are discussed and contextualized. The article offers a global picture of the state of the art in the area and discovers some promising research lines.

  15. Landmark Finding Algorithms for Indoor Autonomous Mobile Robot Localization

    Directory of Open Access Journals (Sweden)

    L. Tóth

    2015-12-01

    Full Text Available This contribution is oriented to ways of computer vision algorithms for mobile robot localization in internal and external agricultural environment. The main aim of this work was to design, create, verify and evaluate speed and functionality of computer vision localization algorithm. An input colour camera data and depth data were captured by MS® Kinect sensor that was mounted on 6-wheel-drive mobile robot chassis. The design of the localization algorithm was focused to the most significant blobs and points (landmarks on the colour picture. Actual coordinates of autonomous mobile robot were calculated out from measured distances (depth sensor and calculated angles (RGB camera with respect to landmark points. Time measurement script was used to compare the speed of landmark finding algorithm for localization in case of one and more landmarks on picture. The main source code was written in MS Visual studio C# programming language with Microsoft.Kinect.1.7.dll on Windows based PC. Algorithms described in this article were created for a future development of an autonomous agronomical m obile robot localization and control.

  16. DEVELOPMENT OF TRAJECTORY CONTROL SYSTEM FOR THE OMNIDIRECTIONAL MOBILE ROBOT

    Directory of Open Access Journals (Sweden)

    Y. A. Kapitanyuk

    2014-03-01

    Full Text Available The article deals with a trajectory control system development for the omnidirectional mobile robot. This kind of robots gives the possibility to control separately each degree of freedom due to special design of the wheels, which greatly facilitates the solution of the spatial control tasks and makes it possible to focus directly on the development of algorithms. Control law synthesis is based on kinematic model of a solid body on a plane. Desired trajectory is defined as a smooth implicit function in a fixed coordinate system. Procedure of control design is represented by using a differential-geometric method of nonlinear transformation of the original model to the task-oriented form, which describes the longitudinal motion along a trajectory and orthogonal deviation. Proportional controllers with direct compensation of nonlinear terms are synthesized for the transformed model. Main results are represented by nonlinear control algorithms and experimental data. Practical implementation of considered control laws for the Robotino mobile robot by Festo Didactics Company is done for illustration of this approach workability. The cases of straight line motion and movement along a circle are represented as desirable trajectories, and the majority of practical tasks for mobile robots control can be implemented by their combination.

  17. A Qualitative Approach to Mobile Robot Navigation Using RFID

    Science.gov (United States)

    Hossain, M.; Rashid, M. M.; Bhuiyan, M. M. I.; Ahmed, S.; Akhtaruzzaman, M.

    2013-12-01

    Radio Frequency Identification (RFID) system allows automatic identification of items with RFID tags using radio-waves. As the RFID tag has its unique identification number, it is also possible to detect a specific region where the RFID tag lies in. Recently it is widely been used in mobile robot navigation, localization, and mapping both in indoor and outdoor environment. This paper represents a navigation strategy for autonomous mobile robot using passive RFID system. Conventional approaches, such as landmark or dead-reckoning with excessive number of sensors, have complexities in establishing the navigation and localization process. The proposed method satisfies less complexity in navigation strategy as well as estimation of not only the position but also the orientation of the autonomous robot. In this research, polar coordinate system is adopted on the navigation surface where RFID tags are places in a grid with constant displacements. This paper also presents the performance comparisons among various grid architectures through simulation to establish a better solution of the navigation system. In addition, some stationary obstacles are introduced in the navigation environment to satisfy the viability of the navigation process of the autonomous mobile robot.

  18. DGPS for Outdoor Mobile Robots by a Wireless LAN

    Institute of Scientific and Technical Information of China (English)

    H. Irie; K. Imamura

    2003-01-01

    With the cancellation of SA in 2000, the precision of GPS has been improved, widening the field of GPS applications. This range of applications includes the measurement of the position of mobile robots. Because the precision of point positioning by GPS is approximately 22mCEP, positioning such objects as automatically controlled oil tankers can be done with good results. However in the case of mobile robots the size of a human, point positioning does not provide enough precision. But with a differential system, utilization involves obtaining information through radio networks, and international agreements written into law determine the radio frequencies that are permitted for use by citizens. For that reason the selection of radio equipment is a very difficult problem for DGPS. In Japan one radio system attracting attention recently is the wireless LAN System, using IEEE802.11b. It is on the 2.4 GHz band, which is available without license, and functions on TCP/IP protocol. This report describes the experimental results of position measurement for a mobile robot using a wireless LAN to send data from a reference station to the robot. We examined what radio transmissions could be used effectively by the LAN.

  19. Mobile Technologies in Museum Exhibitions

    Directory of Open Access Journals (Sweden)

    Sandra Medić

    2014-10-01

    Full Text Available In order to be up–to–date and give visitors a memorable and unique experience, museums are including usage of digital technologies in their exhibitions. Even though museums in Serbia are very important part of tourism offer, they still have traditional settings that are poorly interpreted. The majority of them have a scientific and historical review which is unattractive for various target groups of visitors and for museums it’s important to continually try out new ways in interpretation of their settings. Because technology continues to rapidly change the way we communicate, cultural institutions should adapt to new ways of communication with their visitors. This paper examines mobile technologies that can be used in museums to give visitors a different experience and transfer the knowledge innovatively. In that way it will be presented the modern concept of presentation of museum exhibitions, focusing on usage of mobile devices through mobile applications and QR codes. The paper provides the broad understanding of usage mobile technologies in museum exhibitions with its advantages and limitations. The research results can help the museums management to improve interpretation and communication with visitors and enrich the visitor experience.

  20. Mobile Technologies and Public Health

    Centers for Disease Control (CDC) Podcasts

    2008-09-05

    In this podcast, Erin Edgerton, CDC, and Eric Holman, President of SmartReply, discuss why mobile technologies are an important communications tool for disseminating health messages.  Created: 9/5/2008 by National Center for Health Marketing (NCHM), Division of eHealth Marketing (DeHM).   Date Released: 1/12/2009.

  1. Mobile Technologies and Roving Reference

    Science.gov (United States)

    Penner, Katherine

    2011-01-01

    As 21st century librarians, we have made apt adjustments for reaching out into the digital world, but we need to consider the students who still use library services within our walls. We can use available handheld, mobile technologies to help patrons too shy to approach the desk and free library staff to bring reference service directly to patrons.

  2. Teaching Science with Mobile Technology

    Science.gov (United States)

    Needham, Richard

    2013-01-01

    Examples of the use of various kinds of mobile information technology are explained for use in the classroom or laboratory. Individual or group work can make use of such devices, avoiding the need to move the class to a computer room or wait for a turn to use a computer in the laboratory. Many different applications are available. This article…

  3. Mobile Technologies and Roving Reference

    Science.gov (United States)

    Penner, Katherine

    2011-01-01

    As 21st century librarians, we have made apt adjustments for reaching out into the digital world, but we need to consider the students who still use library services within our walls. We can use available handheld, mobile technologies to help patrons too shy to approach the desk and free library staff to bring reference service directly to patrons.

  4. Some Novel Design Principles for Collective Behaviors in Mobile Robots

    Energy Technology Data Exchange (ETDEWEB)

    OSBOURN, GORDON C.

    2002-09-01

    We present a set of novel design principles to aid in the development of complex collective behaviors in fleets of mobile robots. The key elements are: the use of a graph algorithm that we have created, with certain proven properties, that guarantee scalable local communications for fleets of arbitrary size; the use of artificial forces to simplify the design of motion control; the use of certain proximity values in the graph algorithm to simplify the sharing of robust navigation and sensor information among the robots. We describe these design elements and present a computer simulation that illustrates the behaviors readily achievable with these design tools.

  5. A Voice Operated Tour Planning System for Autonomous Mobile Robots

    Directory of Open Access Journals (Sweden)

    Charles V. Smith Iii

    2010-06-01

    Full Text Available Control systems driven by voice recognition software have been implemented before but lacked the context driven approach to generate relevant responses and actions. A partially voice activated control system for mobile robotics is presented that allows an autonomous robot to interact with people and the environment in a meaningful way, while dynamically creating customized tours. Many existing control systems also require substantial training for voice application. The system proposed requires little to no training and is adaptable to chaotic environments. The traversable area is mapped once and from that map a fully customized route is generated to the user

  6. Hybrid Control Design for a Wheeled Mobile Robot

    DEFF Research Database (Denmark)

    Bak, Thomas; Bendtsen, Jan Dimon; Ravn, Anders Peter

    2003-01-01

    We present a hybrid systems solution to the problem of trajectory tracking for a four-wheel steered four-wheel driven mobile robot. The robot is modelled as a non-holonomic dynamic system subject to pure rolling, no-slip constraints. Under normal driving conditions, a nonlinear trajectory tracking...... feedback control law based on dynamic feedback linearization is sufficient to stabilize the system and ensure asymptotically stable tracking. Transitions to other modes are derived systematically from this model, whenever the configuration space of the controlled system has some fundamental singular points....... The stability of the hybrid control scheme is finally analyzed using Lyapunov-like arguments....

  7. Effects of reconfiguration on the performance of mobile navigation robot

    Institute of Scientific and Technical Information of China (English)

    Fu Yili; Xu He; Li Han; Wang Shuguo; Ma Yuliu

    2006-01-01

    An innovative mobile robot that has reconfigurable locomotion chassis and reconfigurable bionic wheels has been developed to meet the needs of different payload and different terrain. Several prototypes have been achieved by the reconfiguration. By modeling relative comparison coefficients, these prototypes are analyzed in terms of geometrical parameter of trafficability, static stability and maneuverability. The effects of reconfiguration on these indices of robot performance can be compared, i.e. the variable height of chassis h has the biggest effect, the variable length of chassis l is the second, then is the camber angleβ and the caster angle α. Some principles for reconfiguration are proposed.

  8. Locomotion of an all-terrain mobile robot

    Science.gov (United States)

    Iagolnitzer, M.; Richard, F.; Samson, J. F.; Tournassoud, P.

    The authors introduce a framework and prospective solutions for intelligent locomotion, defined as the ability for a mobile robot to cross over obstacles along a path roughly determined either through teleoperation or by a navigation path-finder. Then, they present a simple but efficient control scheme derived from these concepts, taking into account ground clearance, vehicle safety, and possible occlusions in the vision field. This control scheme is applied to Rami, a four tiltable track robot equipped with force sensors, an inertial reference system, a laser-stripe range finder, and extensive real-time computing facilities based on a decentralized architecture.

  9. Application of Wireless Local Area Network Technology in Mobile Robot for Finned Tube Inspection%带鳍片的热交换管道检测机器人的研制

    Institute of Scientific and Technical Information of China (English)

    王光荣; 马培荪; 曹曦; 孙红; 李彦明

    2004-01-01

    This paper introduces a novel robot for outer surface inspection of boiler tubes. The paper describes the hardware system,wireless communication strategy, communication procedure and system software of the robot. The WLAN technology is used in the robot. It solves the problem of shielding generated by iron boiler and 11Mbps bandwidth made it possible for video and control stream real-time transmit within the same channel. Though TCP/IP protocol is robust, serial server is a transparent channel but cannot detect error and retransmit the data. In order to improve the reliability of serial communication, a new communication protocol is proposed.

  10. MOTION PLANNING OF MULTIPLE MOBILE ROBOTS COOPERATIVELY TRANSPORTING A COMMON OBJECT

    Institute of Scientific and Technical Information of China (English)

    2000-01-01

    Many applications above the capability of a single robot need the cooperation of multiple mobile robots, but effective cooperation is hard to achieve. In this paper, a master-slave method is proposed to control the motions of multiple mobile robots that cooperatively transport a common object from a start point to a goal point. A noholonomic kinematic model to constrain the motions of multiple mobile robots is built in order to achieve cooperative motions of them, and a "Dynamic Coordinator" strategy is used to deal with the collision-avoidance of the master robot and slave robot individually. Simulation results show the robustness and effectiveness of the method.

  11. Developing Technological Fluency through Creative Robotics

    Science.gov (United States)

    Bernstein, Debra Lynn

    2010-01-01

    Children have frequent access to technologies such as computers, game systems, and mobile phones (Sefton-Green, 2006). But it is useful to distinguish between engaging with technology as a "consumer" and engaging as a "creator" or designer (Resnick & Rusk, 1996). Children who engage as the former can use technology efficiently, while those who…

  12. Developing Technological Fluency through Creative Robotics

    Science.gov (United States)

    Bernstein, Debra Lynn

    2010-01-01

    Children have frequent access to technologies such as computers, game systems, and mobile phones (Sefton-Green, 2006). But it is useful to distinguish between engaging with technology as a "consumer" and engaging as a "creator" or designer (Resnick & Rusk, 1996). Children who engage as the former can use technology efficiently, while those who…

  13. Mobile robots: An assessment of business opportunities in an emerging industry

    Energy Technology Data Exchange (ETDEWEB)

    Miller, R.K.

    1987-01-01

    The mobile robotics industry is one that is certain to reach the billion-dollar level in the early 1990s. The authors' analysis finds that at least eight areas of application have the potential of exceeding the manufacturing AGVS market by the turn of the century: service and maintenance robots, medical robots, agricultural robots, military robots, office automation, electric utilities, space robots, and construction/mining. This report describes these and other applications, and reviews the mobile robotic products of 45 companies. Leading research is also assessed, and a market forecast is presented.

  14. Active objects programming for military autonomous mobile robots software prototyping

    Science.gov (United States)

    Cozien, Roger F.

    2001-09-01

    While designing mobile robots, we do think that the prototyping phase is really critical. Good and clever choices have to be made. Indeed, we may not easily upgrade such robots, and most of all, when the robot is on its own, any change in both the software and the physical body is going to be very difficult, if not impossible. Thus, a great effort has to be made when prototyping the robot. Furthermore, I think that the kind of programming is very important. If your programming model is not expressive enough, you may experience a great deal of difficulties to add all the features you want, in order to give your robot reactiveness and decision making autonomy. Moreover, designing, and prototyping the on-board software of a reactive robot brings other difficulties. A reactive robot does not include any matter of rapidity. A reactive system is a system able to respond to a huge pannel of situations of which it does not have the schedule. In other words, for instance, the robot does not know when a particular situation may occur, and overall, what it would be doing at this time, and what would be its internal state. This kind of robot must be able to take a decision and to act even if they do not have all the contextual information. To do so, we use a computer language named oRis featuring object and active object oriented programming, but also parallel and dynamic code, (the code can be changed during its own execution). This last point has been made possible because oRis is fully interpreted. However oRis may call fully compiled code, but also Prolog and Java code. An oRis program may be distributed on several computers using TCP/IP network connections. The main issue in this paper is to show how active objet oriented programming, as a modern extension of object oriented programming, may help us in designing autonomous mobile robots. Based on a fully parallel software programming, an active object code allows us to give many features to a robot, and to easily solve

  15. Active object programming for military autonomous mobile robot software prototyping

    Science.gov (United States)

    Cozien, Roger F.

    2001-10-01

    While designing mobile robots, we do think that the prototyping phase is really critical. Good and clever choices have to be made. Indeed, we may not easily upgrade such robots, and most of all, when the robot is on its own, any change in both the software and the physical body is going to be very difficult, if not impossible. Thus, a great effort has to be made when prototyping the robot. Furthermore, I think that the kind of programming is very important. If your programming model is not expressive enough, you may experience a great deal of difficulties to add all the features you want, in order to give your robot reactiveness and decision making autonomy. Moreover, designing, and prototyping the on-board software of a reactive robot brings other difficulties. A reactive robot does not include any matter of rapidity. A reactive system is a system able to respond to a huge panel of situations of which it does not have the schedule. In other words, for instance, the robot does not know when a particular situation may occur, and overall, what it would be doing at this time, and what would be its internal state. This kind of robot must be able to take a decision and to act even if they do not have all the contextual information. To do so, we use a computer language named oRis featuring object and active object oriented programming, but also parallel and dynamic code, (the code can be changed during its own execution). This last point has been made possible because oRis is fully interpreted. However oRis may call fully compiled code, but also Prolog and Java code. An oRis program may be distributed on several computers using TCP/IP network connections. The main issue in this paper is to show how active objet oriented programming, as a modern extension of object oriented programming, may help us in designing autonomous mobile robots. Based on a fully parallel software programming, an active object code allows us to give many features to a robot, and to easily solve

  16. Robot technologies, autism and designs for learning

    DEFF Research Database (Denmark)

    Hansbøl, Mikala

    2015-01-01

    in the future, with a focus on children and young people diagnosed with autism spectrum disorders, their ICT interests and engagement in innovative and creative learning. The paper draws on international research and examples from the author’s own research into education for children and young people diagnosed...... technologies involves several very different educational approaches to supporting young people’s learning and development. The paper discusses how robot technologies as learning resources have been related to the field of autism and education, and argues for a need to further expand the areas of application...... with autism spectrum disorders, drawing on teachers’ and the students’ interests in working with ICT (e.g. robot technology)....

  17. Flexible mobile robot system for smart optical pipe inspection

    Science.gov (United States)

    Kampfer, Wolfram; Bartzke, Ralf; Ziehl, Wolfgang

    1998-03-01

    Damages of pipes can be inspected and graded by TV technology available on the market. Remotely controlled vehicles carry a TV-camera through pipes. Thus, depending on the experience and the capability of the operator, diagnosis failures can not be avoided. The classification of damages requires the knowledge of the exact geometrical dimensions of the damages such as width and depth of cracks, fractures and defect connections. Within the framework of a joint R&D project a sensor based pipe inspection system named RODIAS has been developed with two partners from industry and research institute. It consists of a remotely controlled mobile robot which carries intelligent sensors for on-line sewerage inspection purpose. The sensor is based on a 3D-optical sensor and a laser distance sensor. The laser distance sensor is integrated in the optical system of the camera and can measure the distance between camera and object. The angle of view can be determined from the position of the pan and tilt unit. With coordinate transformations it is possible to calculate the spatial coordinates for every point of the video image. So the geometry of an object can be described exactly. The company Optimess has developed TriScan32, a special software for pipe condition classification. The user can start complex measurements of profiles, pipe displacements or crack widths simply by pressing a push-button. The measuring results are stored together with other data like verbal damage descriptions and digitized images in a data base.

  18. Non-destructive inspection in industrial equipment using robotic mobile manipulation

    Science.gov (United States)

    Maurtua, Iñaki; Susperregi, Loreto; Ansuategui, Ander; Fernández, Ane; Ibarguren, Aitor; Molina, Jorge; Tubio, Carlos; Villasante, Cristobal; Felsch, Torsten; Pérez, Carmen; Rodriguez, Jorge R.; Ghrissi, Meftah

    2016-05-01

    MAINBOT project has developed service robots based applications to autonomously execute inspection tasks in extensive industrial plants in equipment that is arranged horizontally (using ground robots) or vertically (climbing robots). The industrial objective has been to provide a means to help measuring several physical parameters in multiple points by autonomous robots, able to navigate and climb structures, handling non-destructive testing sensors. MAINBOT has validated the solutions in two solar thermal plants (cylindrical-parabolic collectors and central tower), that are very demanding from mobile manipulation point of view mainly due to the extension (e.g. a thermal solar plant of 50Mw, with 400 hectares, 400.000 mirrors, 180 km of absorber tubes, 140m height tower), the variability of conditions (outdoor, day-night), safety requirements, etc. Once the technology was validated in simulation, the system was deployed in real setups and different validation tests carried out. In this paper two of the achievements related with the ground mobile inspection system are presented: (1) Autonomous navigation localization and planning algorithms to manage navigation in huge extensions and (2) Non-Destructive Inspection operations: thermography based detection algorithms to provide automatic inspection abilities to the robots.

  19. Mina: A Sensorimotor Robotic Orthosis for Mobility Assistance

    Directory of Open Access Journals (Sweden)

    Anil K. Raj

    2011-01-01

    Full Text Available While most mobility options for persons with paraplegia or paraparesis employ wheeled solutions, significant adverse health, psychological, and social consequences result from wheelchair confinement. Modern robotic exoskeleton devices for gait assistance and rehabilitation, however, can support legged locomotion systems for those with lower extremity weakness or paralysis. The Florida Institute for Human and Machine Cognition (IHMC has developed the Mina, a prototype sensorimotor robotic orthosis for mobility assistance that provides mobility capability for paraplegic and paraparetic users. This paper describes the initial concept, design goals, and methods of this wearable overground robotic mobility device, which uses compliant actuation to power the hip and knee joints. Paralyzed users can balance and walk using the device over level terrain with the assistance of forearm crutches employing a quadrupedal gait. We have initiated sensory substitution feedback mechanisms to augment user sensory perception of his or her lower extremities. Using this sensory feedback, we hypothesize that users will ambulate with a more natural, upright gait and will be able to directly control the gait parameters and respond to perturbations. This may allow bipedal (with minimal support gait in future prototypes.

  20. Embodied Computation: An Active-Learning Approach to Mobile Robotics Education

    Science.gov (United States)

    Riek, L. D.

    2013-01-01

    This paper describes a newly designed upper-level undergraduate and graduate course, Autonomous Mobile Robots. The course employs active, cooperative, problem-based learning and is grounded in the fundamental computational problems in mobile robotics defined by Dudek and Jenkin. Students receive a broad survey of robotics through lectures, weekly…

  1. Embodied Computation: An Active-Learning Approach to Mobile Robotics Education

    Science.gov (United States)

    Riek, L. D.

    2013-01-01

    This paper describes a newly designed upper-level undergraduate and graduate course, Autonomous Mobile Robots. The course employs active, cooperative, problem-based learning and is grounded in the fundamental computational problems in mobile robotics defined by Dudek and Jenkin. Students receive a broad survey of robotics through lectures, weekly…

  2. Development and implementation of algorithms in a population of cooperative autonomous mobile robots

    CSIR Research Space (South Africa)

    Namoshe, M

    2007-10-01

    Full Text Available An increase in the number of mobile robot users has lead to the design and implementation of cooperative autonomous mobile robots. Autonomous robots require the ability to build maps of an unknown environment while simultaneously using these maps...

  3. Fuzzy Logic Navigation and Obstacle Avoidance by a Mobile Robot in an Unknown Dynamic Environment

    Directory of Open Access Journals (Sweden)

    Mohammed Faisal

    2013-01-01

    Full Text Available Mobile robot navigation has remained an open problem over the last two decades. Mobile robots are required to navigate in unknown and dynamic environments, and in recent years the use of mobile robots in material handling has considerably increased. Usually workers push carts around warehouses and manually handle orders which is not very cost‐effective. To this end, a potential method to control a swarm of mobile robots in a warehouse with static and dynamic obstacles is to use the wireless control approach. Further, to be able to control different types of mobile robots in the warehouse, the fuzzy logic control approach has been chosen. Therefore, in this paper, an on‐line navigation technique for a wheeled mobile robot (WMR in an unknown dynamic environment using fuzzy logic techniques is investigated. In this paper, we aim to use the robot in application in a warehouse. Experimental results show the effectiveness of the proposed algorithm.

  4. Indirect Kalman Filter in Mobile Robot Application

    Directory of Open Access Journals (Sweden)

    Surachai Panich

    2010-01-01

    Full Text Available Problem statement: The most successful applications of Kalman filtering are to linearize about some nominal trajectory in state space that does not depend on the measurement data. The resulting filter is usually referred to as simply a linearized Kalman filter. Approach: This study introduced mainly indirect Kalman filter to estimate robot’s position. A developed differential encoder system integrated accelerometer is experimental tested in square shape. Results: Experimental results confirmed that indirect Kalman filter improves the accuracy and confidence of position estimation. Conclusion: In summary, we concluded that indirect Kalman filter has good potential to reduce error of measurement data.

  5. Stereo Visual SLAM for Mobile Robots Navigation

    OpenAIRE

    Moreno Dueñas, Francisco Ángel

    2015-01-01

    Esta tesis está enfocada a la combinación de los campos de la robótica móvil y la visión por computador, con el objetivo de desarrollar métodos que permitan a un robot móvil localizarse dentro de su entorno mientras construye un mapa del mismo, utilizando como única entrada un conjunto de imágenes. Este problema se denomina SLAM visual (por las siglas en inglés de "Simultaneous Localization And Mapping") y es un tema que aún continúa abierto a pesar del gran esfuerzo investigador realizado en...

  6. Mobile biometric device (MBD) technology :

    Energy Technology Data Exchange (ETDEWEB)

    Aldridge, Chris D.

    2013-06-01

    Mobile biometric devices (MBDs) capable of both enrolling individuals in databases and performing identification checks of subjects in the field are seen as an important capability for military, law enforcement, and homeland security operations. The technology is advancing rapidly. The Department of Homeland Security Science and Technology Directorate through an Interagency Agreement with Sandia sponsored a series of pilot projects to obtain information for the first responder law enforcement community on further identification of requirements for mobile biometric device technology. Working with 62 different jurisdictions, including components of the Department of Homeland Security, Sandia delivered a series of reports on user operation of state-of-the-art mobile biometric devices. These reports included feedback information on MBD usage in both operational and exercise scenarios. The findings and conclusions of the project address both the limitations and possibilities of MBD technology to improve operations. Evidence of these possibilities can be found in the adoption of this technology by many agencies today and the cooperation of several law enforcement agencies in both participating in the pilot efforts and sharing of information about their own experiences in efforts undertaken separately.

  7. Mobile Learning and Integration of Mobile Technologies in Education

    Science.gov (United States)

    Keengwe, Jared; Bhargava, Malini

    2014-01-01

    Mobile technologies have a huge potential to transform education provided these technologies are designed and implemented in such a way that they are relevant to the social and cultural context of learning. Clearly, the application, implementation, and design of mobile technology in the global educational context pose technological and…

  8. Flocking of multiple mobile robots based on backstepping.

    Science.gov (United States)

    Dong, Wenjie

    2011-04-01

    This paper considers the flocking of multiple nonholonomic wheeled mobile robots. Distributed controllers are proposed with the aid of backstepping techniques, results from graph theory, and singular perturbation theory. The proposed controllers can make the states of a group of robots converge to a desired geometric pattern whose centroid moves along a desired trajectory under the condition that the desired trajectory is available to a portion of the group of robots. Since communication delay is inevitable in distributed control, its effect on the performance of the closed-loop systems is analyzed. It is shown that the proposed controllers work well if communication delays are constant. To show effectiveness of the proposed controllers, simulation results are included.

  9. Vision based object pose estimation for mobile robots

    Science.gov (United States)

    Wu, Annie; Bidlack, Clint; Katkere, Arun; Feague, Roy; Weymouth, Terry

    1994-01-01

    Mobile robot navigation using visual sensors requires that a robot be able to detect landmarks and obtain pose information from a camera image. This paper presents a vision system for finding man-made markers of known size and calculating the pose of these markers. The algorithm detects and identifies the markers using a weighted pattern matching template. Geometric constraints are then used to calculate the position of the markers relative to the robot. The selection of geometric constraints comes from the typical pose of most man-made signs, such as the sign standing vertical and the dimensions of known size. This system has been tested successfully on a wide range of real images. Marker detection is reliable, even in cluttered environments, and under certain marker orientations, estimation of the orientation has proven accurate to within 2 degrees, and distance estimation to within 0.3 meters.

  10. Pose estimation for mobile robots working on turbine blade

    Energy Technology Data Exchange (ETDEWEB)

    Ma, X.D.; Chen, Q.; Liu, J.J.; Sun, Z.G.; Zhang, W.Z. [Tsinghua Univ., Beijing (China). Key Laboratory for Advanced Materials Processing Technology, Ministry of Education, Dept. of Mechanical Engineering

    2009-03-11

    This paper discussed a features point detection and matching task technique for mobile robots used in wind turbine blade applications. The vision-based scheme used visual information from the robot's surrounding environment to match successive image frames. An improved pose estimation algorithm based on a scale invariant feature transform (SIFT) was developed to consider the characteristics of local images of turbine blades, pose estimation problems, and conditions. The method included a pre-subsampling technique for reducing computation and bidirectional matching for improving precision. A random sample consensus (RANSAC) method was used to estimate the robot's pose. Pose estimation conditions included a wide pose range; the distance between neighbouring blades; and mechanical, electromagnetic, and optical disturbances. An experimental platform was used to demonstrate the validity of the proposed algorithm. 20 refs., 6 figs.

  11. A Hierarchical Fuzzy Control Design for Indoor Mobile Robot

    Directory of Open Access Journals (Sweden)

    Foudil Abdessemed

    2014-03-01

    Full Text Available This paper presents a motion control for an autonomous robot navigation using fuzzy logic motion control and stereo vision based path-planning module. This requires the capability to maneuver in a complex unknown environment. The mobile robot uses intuitive fuzzy rules and is expected to reach a specific target or follow a prespecified trajectory while moving among unforeseen obstacles. The robot's mission depends on the choice of the task. In this paper, behavioral-based control architecture is adopted, and each local navigational task is analyzed in terms of primitive behaviors. Our approach is systematic and original in the sense that some of the fuzzy rules are not triggered in face of critical situations for which the stere

  12. An algorithm for formation control of mobile robots

    Directory of Open Access Journals (Sweden)

    Ćosić Aleksandar

    2013-01-01

    Full Text Available Solution of the formation guidance in structured static environments is presented in this paper. It is assumed that high level planner is available, which generates collision free trajectory for the leader robot. Leader robot is forced to track generated trajectory, while followers’ trajectories are generated based on the trajectory realized by the real leader. Real environments contain large number of static obstacles, which can be arbitrarily positioned. Hence, formation switching becomes necessary in cases when followers can collide with obstacles. In order to ensure trajectory tracking, as well as object avoidance, control structure with several controllers of different roles (trajectory tracking, obstacle avoiding, vehicle avoiding and combined controller has been adopted. Kinematic model of differentially driven two-wheeled mobile robot is assumed. Simulation results show the efficiency of the proposed approach. [Projekat Ministarstva nauke Republike Srbije, br. TR-35003 i br. III-44008

  13. Mobile technology in clinical teaching.

    Science.gov (United States)

    Mackay, B J; Anderson, J; Harding, T

    2017-01-01

    Technology is having a profound effect on education in the 21st century and nurse educators are being challenged to integrate technological innovation to assist students in their learning. This paper reports a study on the introduction of smart mobile technology to support student learning in the clinical environment. In a climate of collaborative inquiry, clinical lecturers and two researchers from the same department carried out a project in three phases: formation, implementation and analysis. Following the formation phase, six clinical lecturers adopted iPads to support their clinical teaching (implementation phase). At this time they also kept reflective journals. In the analysis phase a thematic analysis of the data from the journals and from a focus group found both enabling and constraining factors influenced the use of iPads by clinical lecturers. The themes categorised as enablers were: resources and technology; and, management and technology support. Those identified as barriers or constraining factors were: clinical staff engagement; and lecturer experience with technology. Student engagement and learning, and connectivity were both enabling and constraining factors. This paper concludes that the use of a mobile device such as an iPad can enhance teaching in clinical settings but that in order for such devices to be successfully integrated into clinical teaching consideration needs to be given to professional development needs, adequate resourcing and technology support.

  14. Tomorrow's mobile robots in today's nuclear power plants

    Energy Technology Data Exchange (ETDEWEB)

    McDermott, K.J.; Pavelek, M.D. II; Roman, H.T.

    1986-01-01

    A primary motivation for utilizing robots in nuclear power plants is maintenance economics and the nuclear industry's concern with reducing personnel radiation exposure to as low as reasonably achievable as recommended by the US Nuclear Regulatory Commission (NRC). Recent studies by Battelle Columbus Laboratories, the Electric Power Research Institute, the NRC and others indicate that robots for surveillance and inspection can be retrofitted into existing boiling water reactor and pressurized water reactor plants, but economics must be evaluated on a case-by-case, site-specific basis, because nuclear power plants in the US are usually different in design. Application areas or robot functions being considered are broad and range from primary containment inspection, reactor maintenance, routine health physics tasks, and various operation and maintenance procedures, to facility decontamination and decommissioning, and post-accident recovery such as at Three Mile Island Unit 2. This paper will discuss the general use of robotic devices in nuclear power plants, the pioneering use of robotics technology at Three Mile Island nuclear power plant, and the field testing of mobile robots at Public Service Electric and Gas Company's Salem and Hope Creek nuclear plants.

  15. Object Conveyance Algorithm for Multiple Mobile Robots based on Object Shape and Size

    Directory of Open Access Journals (Sweden)

    Purnomo Sejati

    2016-05-01

    Full Text Available This paper describes a determination method of a number of a team for multiple mobile robot object conveyance. The number of robot on multiple mobile robot systems is the factor of complexity on robots formation and motion control. In our previous research, we verified the use of the complex-valued neural network for controlling multiple mobile robots in object conveyance problem. Though it is a significant issue to develop effective determination team member for multiple mobile robot object conveyance, few studies have been done on it. Therefore, we propose an algorithm for determining the number of the team member on multiple mobile robot object conveyance with grasping push. The team member is determined based on object weight to obtain appropriate formation. First, the object shape and size measurement is carried out by a surveyor robot that approaches and surrounds the object. During surrounding the object, the surveyor robot measures its distance to the object and records for estimating the object shape and size. Since the object shape and size are estimated, the surveyor robot makes initial push position on the estimated push point and calls additional robots for cooperative push. The algorithm is validated in several computer simulations with varying object shape and size. As a result, the proposed algorithm is promising for minimizing the number of the robot on multiple mobile robot object conveyance.

  16. The Challenge of Planning and Execution for Spacecraft Mobile Robots

    Science.gov (United States)

    Dorais, Gregory A.; Gawdiak, Yuri; Clancy, Daniel (Technical Monitor)

    2002-01-01

    The need for spacecraft mobile robots continues to grow. These robots offer the potential to increase the capability, productivity, and duration of space missions while decreasing mission risk and cost. Spacecraft Mobile Robots (SMRs) can serve a number of functions inside and outside of spacecraft from simpler tasks, such as performing visual diagnostics and crew support, to more complex tasks, such as performing maintenance and in-situ construction. One of the predominant challenges to deploying SMRs is to reduce the need for direct operator interaction. Teleoperation is often not practical due to the communication latencies incurred because of the distances involved and in many cases a crewmember would directly perform a task rather than teleoperate a robot to do it. By integrating a mixed-initiative constraint-based planner with an executive that supports adjustably autonomous control, we intend to demonstrate the feasibility of autonomous SMRs by deploying one inside the International Space Station (ISS) and demonstrate in simulation one that operates outside of the ISS. This paper discusses the progress made at NASA towards this end, the challenges ahead, and concludes with an invitation to the research community to participate.

  17. Kinematic evaluation of mobile robotic platforms for overground gait neurorehabilitation

    Science.gov (United States)

    Alias, N. Akmal; Huq, M. Saiful; Ibrahim, B. S. K. K.; Omar, Rosli

    2017-09-01

    Gait assistive devices offer a great solution to the walking re-education which reduce patients theoretical limit by aiding the anatomical joints to be in line with the rehabilitation session. Overground gait training, which is differs significantly from body-weight supported treadmill training in many aspects, essentially consists of a mobile robotic base to support the subject securely (usually with overhead harness) while its motion and orientation is controlled seamlessly to facilitate subjects free movement. In this study, efforts have been made for evaluation of both holonomic and nonholonomic drives, the outcome of which may constitute the primarily results to the effective approach in designing a robotic platform for the mobile rehabilitation robot. The sets of kinematic equations are derived using typical geometries of two different drives. The results indicate that omnidirectional mecanum wheel platform is capable for more sophisticated discipline. Although the differential drive platform happens to be more simple and easy to construct, but it is less desirable as it has limited number of motions applicable to the system. The omnidirectional robot consisting of mecanum wheels, which is classified as holonomic is potentially the best solution in terms of its capability to move in arbitrary direction without concerning the changing of wheel's direction.

  18. An Analytical Approach to Avoid Obstacles in Mobile Robot Navigation

    Directory of Open Access Journals (Sweden)

    Alexandre Santos Brandão

    2013-06-01

    Full Text Available A nonlinear supervised globally stable controller is proposed to reactively guide a mobile robot to avoid obstacles while seeking a goal. Whenever the robot detects an object nearby, its orientation is changed to be aligned with the tangent to the border of the obstacle. Then, the robot starts following it, looking for a feasible path to its goal. The supervisor is responsible for deciding which path to take when the robot faces some particular obstacle configurations that are quite difficult to deal with. Several simulations and experiments were run to validate the proposal, some of which are discussed here. To run the experiments, the proposed controller is programmed into the onboard computer of a real unicycle mobile platform, equipped with a laser range scanner. As for the simulations, the models of the same experimental setup were used. The final conclusion is that the nonlinear supervised controller proposed to solve the problem of avoiding obstacles during goal seeking has been validated, based on the theoretical analysis, and the simulated and experimental results.

  19. An Autonomous Mobile Robotic System for Surveillance of Indoor Environments

    Directory of Open Access Journals (Sweden)

    Donato Di Paola

    2010-02-01

    Full Text Available The development of intelligent surveillance systems is an active research area. In this context, mobile and multi-functional robots are generally adopted as means to reduce the environment structuring and the number of devices needed to cover a given area. Nevertheless, the number of different sensors mounted on the robot, and the number of complex tasks related to exploration, monitoring, and surveillance make the design of the overall system extremely challenging. In this paper, we present our autonomous mobile robot for surveillance of indoor environments. We propose a system able to handle autonomously general-purpose tasks and complex surveillance issues simultaneously. It is shown that the proposed robotic surveillance scheme successfully addresses a number of basic problems related to environment mapping, localization and autonomous navigation, as well as surveillance tasks, like scene processing to detect abandoned or removed objects and people detection and following. The feasibility of the approach is demonstrated through experimental tests using a multisensor platform equipped with a monocular camera, a laser scanner, and an RFID device. Real world applications of the proposed system include surveillance of wide areas (e.g. airports and museums and buildings, and monitoring of safety equipment.

  20. An Autonomous Mobile Robotic System for Surveillance of Indoor Environments

    Directory of Open Access Journals (Sweden)

    Donato Di Paola

    2010-03-01

    Full Text Available The development of intelligent surveillance systems is an active research area. In this context, mobile and multi-functional robots are generally adopted as means to reduce the environment structuring and the number of devices needed to cover a given area. Nevertheless, the number of different sensors mounted on the robot, and the number of complex tasks related to exploration, monitoring, and surveillance make the design of the overall system extremely challenging. In this paper, we present our autonomous mobile robot for surveillance of indoor environments. We propose a system able to handle autonomously general-purpose tasks and complex surveillance issues simultaneously. It is shown that the proposed robotic surveillance scheme successfully addresses a number of basic problems related to environment mapping, localization and autonomous navigation, as well as surveillance tasks, like scene processing to detect abandoned or removed objects and people detection and following. The feasibility of the approach is demonstrated through experimental tests using a multisensor platform equipped with a monocular camera, a laser scanner, and an RFID device. Real world applications of the proposed system include surveillance of wide areas (e.g. airports and museums and buildings, and monitoring of safety equipment.