WorldWideScience

Sample records for robotic path planning

  1. Robotic Online Path Planning on Point Cloud.

    Science.gov (United States)

    Liu, Ming

    2016-05-01

    This paper deals with the path-planning problem for mobile wheeled- or tracked-robot which drive in 2.5-D environments, where the traversable surface is usually considered as a 2-D-manifold embedded in a 3-D ambient space. Specially, we aim at solving the 2.5-D navigation problem using raw point cloud as input. The proposed method is independent of traditional surface parametrization or reconstruction methods, such as a meshing process, which generally has high-computational complexity. Instead, we utilize the output of 3-D tensor voting framework on the raw point clouds. The computation of tensor voting is accelerated by optimized implementation on graphics computation unit. Based on the tensor voting results, a novel local Riemannian metric is defined using the saliency components, which helps the modeling of the latent traversable surface. Using the proposed metric, we prove that the geodesic in the 3-D tensor space leads to rational path-planning results by experiments. Compared to traditional methods, the results reveal the advantages of the proposed method in terms of smoothing the robot maneuver while considering the minimum travel distance.

  2. Rapidly Exploring Random Trees Used for Mobile Robots Path Planning

    Czech Academy of Sciences Publication Activity Database

    Krejsa, Jiří; Věchet, S.

    2005-01-01

    Roč. 12, č. 4 (2005), s. 231-238 ISSN 1802-1484. [Mechatronics, Robotics and Biomechanics 2005. Třešť, 26.09.2005-29.09.2005] Institutional research plan: CEZ:AV0Z20760514 Keywords : path planning * mobile robot Subject RIV: JD - Computer Applications, Robotics

  3. Points-Based Safe Path Planning of Continuum Robots

    Directory of Open Access Journals (Sweden)

    Khuram Shahzad

    2015-07-01

    Full Text Available Continuum robots exhibit great potential in a number of challenging applications where traditional rigid link robots pose certain limitations, e.g., working in unstructured environments. In order to enable the usage of continuum robots in safety-critical applications, such as surgery and nuclear decontamination, it is extremely important to ensure a safe path for the robot's movement. Existing algorithms for continuum robot path planning have certain limitations that need to be addressed. These include the fact that none of the algorithms provide safety assurance parameters and control for path planning. They are computationally expensive, applicable to a specific type of continuum robots, and mostly they do not incorporate design and kinematics constraints. In this paper, we propose a points-based path planning (PoPP algorithm for continuum robots that computes the path by imposing safety constraints and improves upon the limitations of existing approaches. In the algorithm, we exploit the constant curvature-bending property of continuum robots in their path planning process. The algorithm is computationally efficient and provides a good tradeoff between accuracy and efficiency that can be implemented to enable the safety-critical application of continuum robots. This algorithm also provides information regarding path volume and flexibility in movement. Simulation results confirm that the algorithm possesses promising potential for all types of continuum robots (following the constant curvature-bending property. We believe that this effectively balances the desired safety and efficiency requirements.

  4. Path planning algorithms for assembly sequence planning. [in robot kinematics

    Science.gov (United States)

    Krishnan, S. S.; Sanderson, Arthur C.

    1991-01-01

    Planning for manipulation in complex environments often requires reasoning about the geometric and mechanical constraints which are posed by the task. In planning assembly operations, the automatic generation of operations sequences depends on the geometric feasibility of paths which permit parts to be joined into subassemblies. Feasible locations and collision-free paths must be present for part motions, robot and grasping motions, and fixtures. This paper describes an approach to reasoning about the feasibility of straight-line paths among three-dimensional polyhedral parts using an algebra of polyhedral cones. A second method recasts the feasibility conditions as constraints in a nonlinear optimization framework. Both algorithms have been implemented and results are presented.

  5. Reactive Path Planning Approach for Docking Robots in Unknown Environment

    Directory of Open Access Journals (Sweden)

    Peng Cui

    2017-01-01

    Full Text Available Autonomous robots need to be recharged and exchange information with the host through docking in the long-distance tasks. Therefore, feasible path is required in the docking process to guide the robot and adjust its pose. However, when there are unknown obstacles in the work area, it becomes difficult to determine the feasible path for docking. This paper presents a reactive path planning approach named Dubins-APF (DAPF to solve the path planning problem for docking in unknown environment with obstacles. In this proposed approach the Dubins curves are combined with the designed obstacle avoidance potential field to plan the feasible path. Firstly, an initial path is planned and followed according to the configurations of the robot and the docking station. Then when the followed path is evaluated to be infeasible, the intermediate configuration is calculated as well as the replanned path based on the obstacle avoidance potential field. The robot will be navigated to the docking station with proper pose eventually via the DAPF approach. The proposed DAPF approach is efficient and does not require the prior knowledge about the environment. Simulation results are given to validate the effectiveness and feasibility of the proposed approach.

  6. Path Planning & Measurement Registration for Robotic Structural Asset Monitoring

    OpenAIRE

    Pierce , Stephen Gareth; Macleod , Charles Norman; Dobie , Gordon; Summan , Rahul

    2014-01-01

    International audience; The move to increased levels of autonomy for robotic delivery of inspection for asset monitoring, demands a structured approach to path planning and measurement data presentation that greatly surpasses the more ad‐,hoc approach typically employed by remotely controlled, but manually driven robotic inspection vehicles. The authors describe a traditional CAD/CAM approach to motion planning (as used in machine tool operation) which has numerous benefits including the...

  7. Survey of Robot 3D Path Planning Algorithms

    Directory of Open Access Journals (Sweden)

    Liang Yang

    2016-01-01

    Full Text Available Robot 3D (three-dimension path planning targets for finding an optimal and collision-free path in a 3D workspace while taking into account kinematic constraints (including geometric, physical, and temporal constraints. The purpose of path planning, unlike motion planning which must be taken into consideration of dynamics, is to find a kinematically optimal path with the least time as well as model the environment completely. We discuss the fundamentals of these most successful robot 3D path planning algorithms which have been developed in recent years and concentrate on universally applicable algorithms which can be implemented in aerial robots, ground robots, and underwater robots. This paper classifies all the methods into five categories based on their exploring mechanisms and proposes a category, called multifusion based algorithms. For all these algorithms, they are analyzed from a time efficiency and implementable area perspective. Furthermore a comprehensive applicable analysis for each kind of method is presented after considering their merits and weaknesses.

  8. Robot path planning using expert systems and machine vision

    Science.gov (United States)

    Malone, Denis E.; Friedrich, Werner E.

    1992-02-01

    This paper describes a system developed for the robotic processing of naturally variable products. In order to plan the robot motion path it was necessary to use a sensor system, in this case a machine vision system, to observe the variations occurring in workpieces and interpret this with a knowledge based expert system. The knowledge base was acquired by carrying out an in-depth study of the product using examination procedures not available in the robotic workplace and relates the nature of the required path to the information obtainable from the machine vision system. The practical application of this system to the processing of fish fillets is described and used to illustrate the techniques.

  9. Singularities of robot mechanisms numerical computation and avoidance path planning

    CERN Document Server

    Bohigas, Oriol; Ros, Lluís

    2017-01-01

    This book presents the singular configurations associated with a robot mechanism, together with robust methods for their computation, interpretation, and avoidance path planning. Having such methods is essential as singularities generally pose problems to the normal operation of a robot, but also determine the workspaces and motion impediments of its underlying mechanical structure. A distinctive feature of this volume is that the methods are applicable to nonredundant mechanisms of general architecture, defined by planar or spatial kinematic chains interconnected in an arbitrary way. Moreover, singularities are interpreted as silhouettes of the configuration space when seen from the input or output spaces. This leads to a powerful image that explains the consequences of traversing singular configurations, and all the rich information that can be extracted from them. The problems are solved by means of effective branch-and-prune and numerical continuation methods that are of independent interest in themselves...

  10. Strategy for robot motion and path planning in robot taping

    Science.gov (United States)

    Yuan, Qilong; Chen, I.-Ming; Lembono, Teguh Santoso; Landén, Simon Nelson; Malmgren, Victor

    2016-06-01

    Covering objects with masking tapes is a common process for surface protection in processes like spray painting, plasma spraying, shot peening, etc. Manual taping is tedious and takes a lot of effort of the workers. The taping process is a special process which requires correct surface covering strategy and proper attachment of the masking tape for an efficient surface protection. We have introduced an automatic robot taping system consisting of a robot manipulator, a rotating platform, a 3D scanner and specially designed taping end-effectors. This paper mainly talks about the surface covering strategies for different classes of geometries. The methods and corresponding taping tools are introduced for taping of following classes of surfaces: Cylindrical/extended surfaces, freeform surfaces with no grooves, surfaces with grooves, and rotational symmetrical surfaces. A collision avoidance algorithm is introduced for the robot taping manipulation. With further improvements on segmenting surfaces of taping parts and tape cutting mechanisms, such taping solution with the taping tool and the taping methodology can be combined as a very useful and practical taping package to assist humans in this tedious and time costly work.

  11. Making planned paths look more human-like in humanoid robot manipulation planning

    DEFF Research Database (Denmark)

    Zacharias, F.; Schlette, C.; Schmidt, F.

    2011-01-01

    It contradicts the human's expectations when humanoid robots move awkwardly during manipulation tasks. The unnatural motion may be caused by awkward start or goal configurations or by probabilistic path planning processes that are often used. This paper shows that the choice of an arm's target...... for the robot arm....

  12. Autonomous path planning solution for industrial robot manipulator using backpropagation algorithm

    Directory of Open Access Journals (Sweden)

    PeiJiang Yuan

    2015-12-01

    Full Text Available Here, we propose an autonomous path planning solution using backpropagation algorithm. The mechanism of movement used by humans in controlling their arms is analyzed and then applied to control a robot manipulator. Autonomous path planning solution is a numerical method. The model of industrial robot manipulator used in this article is a KUKA KR 210 R2700 EXTRA robot. In order to show the performance of the autonomous path planning solution, an experiment validation of path tracking is provided. Experiment validation consists of implementation of the autonomous path planning solution and the control of physical robot. The process of converging to target solution is provided. The mean absolute error of position for tool center point is also analyzed. Comparison between autonomous path planning solution and the numerical methods based on Newton–Raphson algorithm is provided to demonstrate the efficiency and accuracy of the autonomous path planning solution.

  13. Task path planning, scheduling and learning for free-ranging robot systems

    Science.gov (United States)

    Wakefield, G. Steve

    1987-01-01

    The development of robotics applications for space operations is often restricted by the limited movement available to guided robots. Free ranging robots can offer greater flexibility than physically guided robots in these applications. Presented here is an object oriented approach to path planning and task scheduling for free-ranging robots that allows the dynamic determination of paths based on the current environment. The system also provides task learning for repetitive jobs. This approach provides a basis for the design of free-ranging robot systems which are adaptable to various environments and tasks.

  14. Path Planning and Navigation for Mobile Robots in a Hybrid Sensor Network without Prior Location Information

    Directory of Open Access Journals (Sweden)

    Zheng Zhang

    2013-03-01

    Full Text Available In a hybrid wireless sensor network with mobile and static nodes, which have no prior geographical knowledge, successful navigation for mobile robots is one of the main challenges. In this paper, we propose two novel navigation algorithms for outdoor environments, which permit robots to travel from one static node to another along a planned path in the sensor field, namely the RAC and the IMAP algorithms. Using this, the robot can navigate without the help of a map, GPS or extra sensor modules, only using the received signal strength indication (RSSI and odometry. Therefore, our algorithms have the advantage of being cost-effective. In addition, a path planning algorithm to schedule mobile robots' travelling paths is presented, which focuses on shorter distances and robust paths for robots by considering the RSSI-Distance characteristics. The simulations and experiments conducted with an autonomous mobile robot show the effectiveness of the proposed algorithms in an outdoor environment.

  15. Cooperative Path Planning and Constraints Analysis for Master-Slave Industrial Robots

    Directory of Open Access Journals (Sweden)

    Yahui Gan

    2012-09-01

    Full Text Available A strategy of cooperative path planning for a master-slave multiple robot system is presented in this paper. The path planning method is based on motion constraints between the end-effectors of cooperative robots. Cooperation motions have been classified into three types by relative motions between end-effectors of master and slave robots, which is concurrent cooperation, coupled synchronous cooperation and combined synchronous cooperation. Based on this classification, position /orientation constraints and joint velocity constraints are explored in-depth here. In order to validate the path planning method and the theoretical developments in motion constraints analysis, representative experiments based on two industrial robots, Motoman VA1400 and HP20, are provided at the end of the paper. The experimental results have proved both the effectiveness of the path planning method and the correctness of the constraints analysis.

  16. Reasoning on the Self-Organizing Incremental Associative Memory for Online Robot Path Planning

    Science.gov (United States)

    Kawewong, Aram; Honda, Yutaro; Tsuboyama, Manabu; Hasegawa, Osamu

    Robot path-planning is one of the important issues in robotic navigation. This paper presents a novel robot path-planning approach based on the associative memory using Self-Organizing Incremental Neural Networks (SOINN). By the proposed method, an environment is first autonomously divided into a set of path-fragments by junctions. Each fragment is represented by a sequence of preliminarily generated common patterns (CPs). In an online manner, a robot regards the current path as the associative path-fragments, each connected by junctions. The reasoning technique is additionally proposed for decision making at each junction to speed up the exploration time. Distinct from other methods, our method does not ignore the important information about the regions between junctions (path-fragments). The resultant number of path-fragments is also less than other method. Evaluation is done via Webots physical 3D-simulated and real robot experiments, where only distance sensors are available. Results show that our method can represent the environment effectively; it enables the robot to solve the goal-oriented navigation problem in only one episode, which is actually less than that necessary for most of the Reinforcement Learning (RL) based methods. The running time is proved finite and scales well with the environment. The resultant number of path-fragments matches well to the environment.

  17. A Novel Randomized Search Technique for Multiple Mobile Robot Paths Planning In Repetitive Dynamic Environment

    Directory of Open Access Journals (Sweden)

    Vahid Behravesh

    2012-08-01

    Full Text Available Presented article is studying the issue of path navigating for numerous robots. Our presented approach is based on both priority and the robust method for path finding in repetitive dynamic. Presented model can be generally implementable and useable: We do not assume any restriction regarding the quantity of levels of freedom for robots, and robots of diverse kinds can be applied at the same time. We proposed a random method and hill-climbing technique in the area based on precedence plans, which is used to determine a solution to a given trajectory planning problem and to make less the extent of total track. Our method plans trajectories for particular robots in the setting-time scope. Therefore, in order to specifying the interval of constant objects similar to other robots and the extent of the tracks which is traversed. For measuring the hazard for robots to conflict with each other it applied a method based on probability of the movements of robots. This algorithm applied to real robots with successful results. The proposed method performed and judged on both real robots and in simulation. We performed sequence of100tests with 8 robots for comparing with coordination method and current performances are effective. However, maximizing the performance is still possible. These performances estimations performed on Windows operating system and 3GHz Intel Pentium IV with and compiles with GCC 3.4. We used our PCGA robot for all experiments.  For a large environment of 19×15m2where we accomplished 40tests, our model is competent to plan high-quality paths in a severely short time (less than a second. Moreover, this article utilized lookup tables to keep expenses the formerly navigated robots made, increasing the number of robots don’t expand computation time.

  18. A new multiple robot path planning algorithm: dynamic distributed particle swarm optimization.

    Science.gov (United States)

    Ayari, Asma; Bouamama, Sadok

    2017-01-01

    Multiple robot systems have become a major study concern in the field of robotic research. Their control becomes unreliable and even infeasible if the number of robots increases. In this paper, a new dynamic distributed particle swarm optimization (D 2 PSO) algorithm is proposed for trajectory path planning of multiple robots in order to find collision-free optimal path for each robot in the environment. The proposed approach consists in calculating two local optima detectors, LOD pBest and LOD gBest . Particles which are unable to improve their personal best and global best for predefined number of successive iterations would be replaced with restructured ones. Stagnation and local optima problems would be avoided by adding diversity to the population, without losing the fast convergence characteristic of PSO. Experiments with multiple robots are provided and proved effectiveness of such approach compared with the distributed PSO.

  19. Optimal path planning for a mobile robot using cuckoo search algorithm

    Science.gov (United States)

    Mohanty, Prases K.; Parhi, Dayal R.

    2016-03-01

    The shortest/optimal path planning is essential for efficient operation of autonomous vehicles. In this article, a new nature-inspired meta-heuristic algorithm has been applied for mobile robot path planning in an unknown or partially known environment populated by a variety of static obstacles. This meta-heuristic algorithm is based on the levy flight behaviour and brood parasitic behaviour of cuckoos. A new objective function has been formulated between the robots and the target and obstacles, which satisfied the conditions of obstacle avoidance and target-seeking behaviour of robots present in the terrain. Depending upon the objective function value of each nest (cuckoo) in the swarm, the robot avoids obstacles and proceeds towards the target. The smooth optimal trajectory is framed with this algorithm when the robot reaches its goal. Some simulation and experimental results are presented at the end of the paper to show the effectiveness of the proposed navigational controller.

  20. Pose estimation-based path planning for a tracked mobile robot traversing uneven terrains

    OpenAIRE

    Jun , Jae-Yun; Saut , Jean-Philippe; Benamar , Faïz

    2015-01-01

    International audience; A novel path-planning algorithm is proposed for a tracked mobile robot to traverse uneven terrains, which can efficiently search for stability sub-optimal paths. This algorithm consists of combining two RRT-like algorithms (the Transition-based RRT (T-RRT) and the Dynamic-Domain RRT (DD-RRT) algorithms) bidirectionally and of representing the robot-terrain interaction with the robot’s quasi-static tip-over stability measure (assuming that the robot traverses uneven ter...

  1. Concurrent Path Planning with One or More Humanoid Robots

    Science.gov (United States)

    Sanders, Adam M. (Inventor); Reiland, Matthew J. (Inventor)

    2014-01-01

    A robotic system includes a controller and one or more robots each having a plurality of robotic joints. Each of the robotic joints is independently controllable to thereby execute a cooperative work task having at least one task execution fork, leading to multiple independent subtasks. The controller coordinates motion of the robot(s) during execution of the cooperative work task. The controller groups the robotic joints into task-specific robotic subsystems, and synchronizes motion of different subsystems during execution of the various subtasks of the cooperative work task. A method for executing the cooperative work task using the robotic system includes automatically grouping the robotic joints into task-specific subsystems, and assigning subtasks of the cooperative work task to the subsystems upon reaching a task execution fork. The method further includes coordinating execution of the subtasks after reaching the task execution fork.

  2. PSO-Based Robot Path Planning for Multisurvivor Rescue in Limited Survival Time

    Directory of Open Access Journals (Sweden)

    N. Geng

    2014-01-01

    Full Text Available Since the strength of a trapped person often declines with time in urgent and dangerous circumstances, adopting a robot to rescue as many survivors as possible in limited time is of considerable significance. However, as one key issue in robot navigation, how to plan an optimal rescue path of a robot has not yet been fully solved. This paper studies robot path planning for multisurvivor rescue in limited survival time using a representative heuristic, particle swarm optimization (PSO. First, the robot path planning problem including multiple survivors is formulated as a discrete optimization one with high constraint, where the number of rescued persons is taken as the unique objective function, and the strength of a trapped person is used to constrain the feasibility of a path. Then, a new integer PSO algorithm is presented to solve the mathematical model, and several new operations, such as the update of a particle, the insertion and inversion operators, and the rapidly local search method, are incorporated into the proposed algorithm to improve its effectiveness. Finally, the simulation results demonstrate the capacity of our method in generating optimal paths with high quality.

  3. Knowledge-inducing Global Path Planning for Robots in Environment with Hybrid Terrain

    Directory of Open Access Journals (Sweden)

    Yi-nan Guo

    2010-09-01

    Full Text Available In complex environment with hybrid terrain, different regions may have different terrain. Path planning for robots in such environment is an open NP-complete problem, which lacks effective methods. The paper develops a novel global path planning method based on common sense and evolution knowledge by adopting dual evolution structure in culture algorithms. Common sense describes terrain information and feasibility of environment, which is used to evaluate and select the paths. Evolution knowledge describes the angle relationship between the path and the obstacles, or the common segments of paths, which is used to judge and repair infeasible individuals. Taken two types of environments with different obstacles and terrain as examples, simulation results indicate that the algorithm can effectively solve path planning problem in complex environment and decrease the computation complexity for judgment and repair of infeasible individuals. It also can improve the convergence speed and have better computation stability.

  4. The Robot Path Planning Based on Improved Artificial Fish Swarm Algorithm

    Directory of Open Access Journals (Sweden)

    Yi Zhang

    2016-01-01

    Full Text Available Path planning is critical to the efficiency and fidelity of robot navigation. The solution of robot path planning is to seek a collision-free and the shortest path from the start node to target node. In this paper, we propose a new improved artificial fish swarm algorithm (IAFSA to process the mobile robot path planning problem in a real environment. In IAFSA, an attenuation function is introduced to improve the visual of standard AFSA and get the balance of global search and local search; also, an adaptive operator is introduced to enhance the adaptive ability of step. Besides, a concept of inertia weight factor is proposed in IAFSA inspired by PSO intelligence algorithm to improve the convergence rate and accuracy of IAFSA. Five unconstrained optimization test functions are given to illustrate the strong searching ability and ideal convergence of IAFSA. Finally, the ROS (robot operation system based experiment is carried out on a Pioneer 3-DX mobile robot; the experiment results also show the superiority of IAFSA.

  5. Mobile Robots Path Planning Using the Overall Conflict Resolution and Time Baseline Coordination

    Directory of Open Access Journals (Sweden)

    Yong Ma

    2014-01-01

    Full Text Available This paper aims at resolving the path planning problem in a time-varying environment based on the idea of overall conflict resolution and the algorithm of time baseline coordination. The basic task of the introduced path planning algorithms is to fulfill the automatic generation of the shortest paths from the defined start poses to their end poses with consideration of generous constraints for multiple mobile robots. Building on this, by using the overall conflict resolution, within the polynomial based paths, we take into account all the constraints including smoothness, motion boundary, kinematics constraints, obstacle avoidance, and safety constraints among robots together. And time baseline coordination algorithm is proposed to process the above formulated problem. The foremost strong point is that much time can be saved with our approach. Numerical simulations verify the effectiveness of our approach.

  6. Autonomously Implemented Versatile Path Planning for Mobile Robots Based on Cellular Automata and Ant Colony

    Directory of Open Access Journals (Sweden)

    Adel Akbarimajd

    2012-02-01

    Full Text Available A path planning method for mobile robots based on two dimensional cellular automata is proposed. The method can be applied for environments with both concave and convex obstacles. It is also appropriate for multi-robot problems as well as dynamic environments. In order to develop the planning method, environment of the robot is decomposed to a rectangular grid and the automata is defined with four states including Robot cell, Free cell, Goal cell and Obstacle cell. Evolution rules of automata are proposed in order to direct the robot toward its goal. CA based path planner method is afterwards modified by a colony technique to be applicable for concave obstacles. Then a layered architecture is proposed to autonomously implement the planning algorithm. The architecture employs an abstraction approach which makes the complexity manageable. An important feature of the architecture is internal artifacts that have some beliefs about the world. Most actions of the robot are planned and performed with respect to these artifacts.

  7. The force control and path planning of electromagnetic induction-based massage robot.

    Science.gov (United States)

    Wang, Wendong; Zhang, Lei; Li, Jinzhe; Yuan, Xiaoqing; Shi, Yikai; Jiang, Qinqin; He, Lijing

    2017-07-20

    Massage robot is considered as an effective physiological treatment to relieve fatigue, improve blood circulation, relax muscle tone, etc. The simple massage equipment quickly spread into market due to low cost, but they are not widely accepted due to restricted massage function. Complicated structure and high cost caused difficulties for developing multi-function massage equipment. This paper presents a novel massage robot which can achieve tapping, rolling, kneading and other massage operations, and proposes an improved reciprocating path planning algorithm to improve massage effect. The number of coil turns, the coil current and the distance between massage head and yoke were chosen to investigate the influence on massage force by finite element method. The control system model of the wheeled massage robot was established, including control subsystem of the motor, path algorithm control subsystem, parameter module of the massage robot and virtual reality interface module. The improved reciprocating path planning algorithm was proposed to improve regional coverage rate and massage effect. The influence caused by coil current, the number of coil turns and the distance between massage head and yoke were simulated in Maxwell. It indicated that coil current has more important influence compared to the other two factors. The path planning simulation of the massage robot was completed in Matlab, and the results show that the improved reciprocating path planning algorithm achieved higher coverage rate than the traditional algorithm. With the analysis of simulation results, it can be concluded that the number of coil turns and the distance between the moving iron core and the yoke could be determined prior to coil current, and the force can be controllable by optimizing structure parameters of massage head and adjusting coil current. Meanwhile, it demonstrates that the proposed algorithm could effectively improve path coverage rate during massage operations, therefore

  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. Robotic path-finding in inverse treatment planning for stereotactic radiosurgery with continuous dose delivery

    Energy Technology Data Exchange (ETDEWEB)

    Vandewouw, Marlee M., E-mail: marleev@mie.utoronto.ca; Aleman, Dionne M. [Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, Ontario M5S 3G8 (Canada); Jaffray, David A. [Radiation Medicine Program, Princess Margaret Cancer Centre, Toronto, Ontario M5G 2M9 (Canada)

    2016-08-15

    Purpose: Continuous dose delivery in radiation therapy treatments has been shown to decrease total treatment time while improving the dose conformity and distribution homogeneity over the conventional step-and-shoot approach. The authors develop an inverse treatment planning method for Gamma Knife® Perfexion™ that continuously delivers dose along a path in the target. Methods: The authors’ method is comprised of two steps: find a path within the target, then solve a mixed integer optimization model to find the optimal collimator configurations and durations along the selected path. Robotic path-finding techniques, specifically, simultaneous localization and mapping (SLAM) using an extended Kalman filter, are used to obtain a path that travels sufficiently close to selected isocentre locations. SLAM is novelly extended to explore a 3D, discrete environment, which is the target discretized into voxels. Further novel extensions are incorporated into the steering mechanism to account for target geometry. Results: The SLAM method was tested on seven clinical cases and compared to clinical, Hamiltonian path continuous delivery, and inverse step-and-shoot treatment plans. The SLAM approach improved dose metrics compared to the clinical plans and Hamiltonian path continuous delivery plans. Beam-on times improved over clinical plans, and had mixed performance compared to Hamiltonian path continuous plans. The SLAM method is also shown to be robust to path selection inaccuracies, isocentre selection, and dose distribution. Conclusions: The SLAM method for continuous delivery provides decreased total treatment time and increased treatment quality compared to both clinical and inverse step-and-shoot plans, and outperforms existing path methods in treatment quality. It also accounts for uncertainty in treatment planning by accommodating inaccuracies.

  10. Robotic path-finding in inverse treatment planning for stereotactic radiosurgery with continuous dose delivery

    International Nuclear Information System (INIS)

    Vandewouw, Marlee M.; Aleman, Dionne M.; Jaffray, David A.

    2016-01-01

    Purpose: Continuous dose delivery in radiation therapy treatments has been shown to decrease total treatment time while improving the dose conformity and distribution homogeneity over the conventional step-and-shoot approach. The authors develop an inverse treatment planning method for Gamma Knife® Perfexion™ that continuously delivers dose along a path in the target. Methods: The authors’ method is comprised of two steps: find a path within the target, then solve a mixed integer optimization model to find the optimal collimator configurations and durations along the selected path. Robotic path-finding techniques, specifically, simultaneous localization and mapping (SLAM) using an extended Kalman filter, are used to obtain a path that travels sufficiently close to selected isocentre locations. SLAM is novelly extended to explore a 3D, discrete environment, which is the target discretized into voxels. Further novel extensions are incorporated into the steering mechanism to account for target geometry. Results: The SLAM method was tested on seven clinical cases and compared to clinical, Hamiltonian path continuous delivery, and inverse step-and-shoot treatment plans. The SLAM approach improved dose metrics compared to the clinical plans and Hamiltonian path continuous delivery plans. Beam-on times improved over clinical plans, and had mixed performance compared to Hamiltonian path continuous plans. The SLAM method is also shown to be robust to path selection inaccuracies, isocentre selection, and dose distribution. Conclusions: The SLAM method for continuous delivery provides decreased total treatment time and increased treatment quality compared to both clinical and inverse step-and-shoot plans, and outperforms existing path methods in treatment quality. It also accounts for uncertainty in treatment planning by accommodating inaccuracies.

  11. Minimum Time Path Planning for Robotic Manipulator in Drilling/ Spot Welding Tasks

    Directory of Open Access Journals (Sweden)

    Qiang Zhang

    2016-04-01

    Full Text Available In this paper, a minimum time path planning strategy is proposed for multi points manufacturing problems in drilling/spot welding tasks. By optimizing the travelling schedule of the set points and the detailed transfer path between points, the minimum time manufacturing task is realized under fully utilizing the dynamic performance of robotic manipulator. According to the start-stop movement in drilling/spot welding task, the path planning problem can be converted into a traveling salesman problem (TSP and a series of point to point minimum time transfer path planning problems. Cubic Hermite interpolation polynomial is used to parameterize the transfer path and then the path parameters are optimized to obtain minimum point to point transfer time. A new TSP with minimum time index is constructed by using point-point transfer time as the TSP parameter. The classical genetic algorithm (GA is applied to obtain the optimal travelling schedule. Several minimum time drilling tasks of a 3-DOF robotic manipulator are used as examples to demonstrate the effectiveness of the proposed approach.

  12. A Method on Dynamic Path Planning for Robotic Manipulator Autonomous Obstacle Avoidance Based on an Improved RRT Algorithm.

    Science.gov (United States)

    Wei, Kun; Ren, Bingyin

    2018-02-13

    In a future intelligent factory, a robotic manipulator must work efficiently and safely in a Human-Robot collaborative and dynamic unstructured environment. Autonomous path planning is the most important issue which must be resolved first in the process of improving robotic manipulator intelligence. Among the path-planning methods, the Rapidly Exploring Random Tree (RRT) algorithm based on random sampling has been widely applied in dynamic path planning for a high-dimensional robotic manipulator, especially in a complex environment because of its probability completeness, perfect expansion, and fast exploring speed over other planning methods. However, the existing RRT algorithm has a limitation in path planning for a robotic manipulator in a dynamic unstructured environment. Therefore, an autonomous obstacle avoidance dynamic path-planning method for a robotic manipulator based on an improved RRT algorithm, called Smoothly RRT (S-RRT), is proposed. This method that targets a directional node extends and can increase the sampling speed and efficiency of RRT dramatically. A path optimization strategy based on the maximum curvature constraint is presented to generate a smooth and curved continuous executable path for a robotic manipulator. Finally, the correctness, effectiveness, and practicability of the proposed method are demonstrated and validated via a MATLAB static simulation and a Robot Operating System (ROS) dynamic simulation environment as well as a real autonomous obstacle avoidance experiment in a dynamic unstructured environment for a robotic manipulator. The proposed method not only provides great practical engineering significance for a robotic manipulator's obstacle avoidance in an intelligent factory, but also theoretical reference value for other type of robots' path planning.

  13. An Adaptive Multi-Objective Particle Swarm Optimization Algorithm for Multi-Robot Path Planning

    Directory of Open Access Journals (Sweden)

    Nizar Hadi Abbas

    2016-07-01

    Full Text Available This paper discusses an optimal path planning algorithm based on an Adaptive Multi-Objective Particle Swarm Optimization Algorithm (AMOPSO for two case studies. First case, single robot wants to reach a goal in the static environment that contain two obstacles and two danger source. The second one, is improving the ability for five robots to reach the shortest way. The proposed algorithm solves the optimization problems for the first case by finding the minimum distance from initial to goal position and also ensuring that the generated path has a maximum distance from the danger zones. And for the second case, finding the shortest path for every robot and without any collision between them with the shortest time. In order to evaluate the proposed algorithm in term of finding the best solution, six benchmark test functions are used to make a comparison between AMOPSO and the standard MOPSO. The results show that the AMOPSO has a better ability to get away from local optimums with a quickest convergence than the MOPSO. The simulation results using Matlab 2014a, indicate that this methodology is extremely valuable for every robot in multi-robot framework to discover its own particular proper pa‌th from the start to the destination position with minimum distance and time.

  14. Path-Constrained Motion Planning for Robotics Based on Kinematic Constraints

    NARCIS (Netherlands)

    Dijk, van N.J.M.; Wouw, van de N.; Pancras, W.C.M.; Nijmeijer, H.

    2007-01-01

    Common robotic tracking tasks consist of motions along predefined paths. The design of time-optimal path-constrained trajectories for robotic applications is discussed in this paper. To increase industrial applicability, the proposed method accounts for robot kinematics together with actuator

  15. Methodology for using root locus technique for mobile robots path planning

    Directory of Open Access Journals (Sweden)

    Mario Ricardo Arbulú Saavedra

    2015-11-01

    Full Text Available This paper shows the analysis and the implementation methodology of the technique of dynamic systems roots location used in free-obstacle path planning for mobile robots. First of all, the analysis and morphologic behavior identification of the paths depending on roots location in complex plane are performed, where paths type and their attraction and repulsion features in the presence of other roots similarly to the obtained with artificial potential fields are identified. An implementation methodology for this technique of mobile robots path planning is proposed, starting from three different methods of roots location for obstacles in the scene. Those techniques change depending on the obstacle key points selected for roots, such as borders, crossing points with original path, center and vertices. Finally, a behavior analysis of general technique and the effectiveness of each tried method is performed, doing 20 tests for each one, obtaining a value of 65% for the selected method. Modifications and possible improvements to this methodology are also proposed.

  16. Constrained VPH+: a local path planning algorithm for a bio-inspired crawling robot with customized ultrasonic scanning sensor.

    Science.gov (United States)

    Rao, Akshay; Elara, Mohan Rajesh; Elangovan, Karthikeyan

    This paper aims to develop a local path planning algorithm for a bio-inspired, reconfigurable crawling robot. A detailed description of the robotic platform is first provided, and the suitability for deployment of each of the current state-of-the-art local path planners is analyzed after an extensive literature review. The Enhanced Vector Polar Histogram algorithm is described and reformulated to better fit the requirements of the platform. The algorithm is deployed on the robotic platform in crawling configuration and favorably compared with other state-of-the-art local path planning algorithms.

  17. A Novel Path Planning for Robots Based on Rapidly-Exploring Random Tree and Particle Swarm Optimizer Algorithm

    Directory of Open Access Journals (Sweden)

    Zhou Feng

    2013-09-01

    Full Text Available A based on Rapidly-exploring Random Tree(RRT and Particle Swarm Optimizer (PSO for path planning of the robot is proposed.First the grid method is built to describe the working space of the mobile robot,then the Rapidly-exploring Random Tree algorithm is used to obtain the global navigation path,and the Particle Swarm Optimizer algorithm is adopted to get the better path.Computer experiment results demonstrate that this novel algorithm can plan an optimal path rapidly in a cluttered environment.The successful obstacle avoidance is achieved,and the model is robust and performs reliably.

  18. Design and performance analysis of global path planning techniques for autonomous mobile robots in grid environments

    Directory of Open Access Journals (Sweden)

    Imen Chaari

    2017-03-01

    Full Text Available This article presents the results of the 2-year iroboapp research project that aims at devising path planning algorithms for large grid maps with much faster execution times while tolerating very small slacks with respect to the optimal path. We investigated both exact and heuristic methods. We contributed with the design, analysis, evaluation, implementation and experimentation of several algorithms for grid map path planning for both exact and heuristic methods. We also designed an innovative algorithm called relaxed A-star that has linear complexity with relaxed constraints, which provides near-optimal solutions with an extremely reduced execution time as compared to A-star. We evaluated the performance of the different algorithms and concluded that relaxed A-star is the best path planner as it provides a good trade-off among all the metrics, but we noticed that heuristic methods have good features that can be exploited to improve the solution of the relaxed exact method. This led us to design new hybrid algorithms that combine our relaxed A-star with heuristic methods which improve the solution quality of relaxed A-star at the cost of slightly higher execution time, while remaining much faster than A* for large-scale problems. Finally, we demonstrate how to integrate the relaxed A-star algorithm in the robot operating system as a global path planner and show that it outperforms its default path planner with an execution time 38% faster on average.

  19. Research and Implementation of Robot Path Planning Based onVSLAM

    Directory of Open Access Journals (Sweden)

    Wang Zi-Qiang

    2018-01-01

    Full Text Available In order to solve the problem of warehouse logistics robots planpath in different scenes, this paper proposes a method based on visual simultaneous localization and mapping (VSLAM to build grid map of different scenes and use A* algorithm to plan path on the grid map. Firstly, we use VSLAMto reconstruct the environment in three-dimensionally. Secondly, based on the three-dimensional environment data, we calculate the accessibility of each grid to prepare occupied grid map (OGM for terrain description. Rely on the terrain information, we use the A* algorithm to solve path planning problem. We also optimize the A* algorithm and improve algorithm efficiency. Lastly, we verify the effectiveness and reliability of the proposed method by simulation and experimental results.

  20. Disordered and Multiple Destinations Path Planning Methods for Mobile Robot in Dynamic Environment

    Directory of Open Access Journals (Sweden)

    Yong-feng Dong

    2016-01-01

    Full Text Available In the smart home environment, aiming at the disordered and multiple destinations path planning, the sequencing rule is proposed to determine the order of destinations. Within each branching process, the initial feasible path set is generated according to the law of attractive destination. A sinusoidal adaptive genetic algorithm is adopted. It can calculate the crossover probability and mutation probability adaptively changing with environment at any time. According to the cultural-genetic algorithm, it introduces the concept of reducing turns by parallelogram and reducing length by triangle in the belief space, which can improve the quality of population. And the fallback strategy can help to jump out of the “U” trap effectively. The algorithm analyses the virtual collision in dynamic environment with obstacles. According to the different collision types, different strategies are executed to avoid obstacles. The experimental results show that cultural-genetic algorithm can overcome the problems of premature and convergence of original algorithm effectively. It can avoid getting into the local optimum. And it is more effective for mobile robot path planning. Even in complex environment with static and dynamic obstacles, it can avoid collision safely and plan an optimal path rapidly at the same time.

  1. Path Planning for Non-Circular, Non-Holonomic Robots in Highly Cluttered Environments.

    Science.gov (United States)

    Samaniego, Ricardo; Lopez, Joaquin; Vazquez, Fernando

    2017-08-15

    This paper presents an algorithm for finding a solution to the problem of planning a feasible path for a slender autonomous mobile robot in a large and cluttered environment. The presented approach is based on performing a graph search on a kinodynamic-feasible lattice state space of high resolution; however, the technique is applicable to many search algorithms. With the purpose of allowing the algorithm to consider paths that take the robot through narrow passes and close to obstacles, high resolutions are used for the lattice space and the control set. This introduces new challenges because one of the most computationally expensive parts of path search based planning algorithms is calculating the cost of each one of the actions or steps that could potentially be part of the trajectory. The reason for this is that the evaluation of each one of these actions involves convolving the robot's footprint with a portion of a local map to evaluate the possibility of a collision, an operation that grows exponentially as the resolution is increased. The novel approach presented here reduces the need for these convolutions by using a set of offline precomputed maps that are updated, by means of a partial convolution, as new information arrives from sensors or other sources. Not only does this improve run-time performance, but it also provides support for dynamic search in changing environments. A set of alternative fast convolution methods are also proposed, depending on whether the environment is cluttered with obstacles or not. Finally, we provide both theoretical and experimental results from different experiments and applications.

  2. Path Planning of Free-Floating Robot in Cartesian Space Using Direct Kinematics

    Directory of Open Access Journals (Sweden)

    Wenfu Xu

    2007-03-01

    Full Text Available Dynamic singularities make it difficult to plan the Cartesian path of free-floating robot. In order to avoid its effect, the direct kinematic equations are used for path planning in the paper. Here, the joint position, rate and acceleration are bounded. Firstly, the joint trajectories are parameterized by polynomial or sinusoidal functions. And the two parametric functions are compared in details. It is the first contribution of the paper that polynomial functions can be used when the joint angles are limited(In the similar work of other researchers, only sinusoidla functions could be used. Secondly, the joint functions are normalized and the system of equations about the parameters is established by integrating the differential kinematics equations. Normalization is another contribution of the paper. After normalization, the boundary of the parameters is determined beforehand, and the general criterion to assign the initial guess of the unknown parameters is supplied. The criterion is independent on the planning conditions such as the total time tf. Finally, the parametes are solved by the iterative Newtonian method. Modification of tf may not result in the recalculation of the parameters. Simulation results verify the path planning method.

  3. Path Planning of Free-Floating Robot in Cartesian Space Using Direct Kinematics

    Directory of Open Access Journals (Sweden)

    Wenfu Xu

    2008-11-01

    Full Text Available Dynamic singularities make it difficult to plan the Cartesian path of freefloating robot. In order to avoid its effect, the direct kinematic equations are used for path planning in the paper. Here, the joint position, rate and acceleration are bounded. Firstly, the joint trajectories are parameterized by polynomial or sinusoidal functions. And the two parametric functions are compared in details. It is the first contribution of the paper that polynomial functions can be used when the joint angles are limited(In the similar work of other researchers, only sinusoidla functions could be used. Secondly, the joint functions are normalized and the system of equations about the parameters is established by integrating the differential kinematics equations. Normalization is another contribution of the paper. After normalization, the boundary of the parameters is determined beforehand, and the general criterion to assign the initial guess of the unknown parameters is supplied. The criterion is independent on the planning conditions such as the total time tf. Finally, the parametes are solved by the iterative Newtonian method. Modification of tf may not result in the recalculation of the parameters. Simulation results verify the path planning method.

  4. Radial polar histogram: obstacle avoidance and path planning for robotic cognition and motion control

    Science.gov (United States)

    Wang, Po-Jen; Keyawa, Nicholas R.; Euler, Craig

    2012-01-01

    In order to achieve highly accurate motion control and path planning for a mobile robot, an obstacle avoidance algorithm that provided a desired instantaneous turning radius and velocity was generated. This type of obstacle avoidance algorithm, which has been implemented in California State University Northridge's Intelligent Ground Vehicle (IGV), is known as Radial Polar Histogram (RPH). The RPH algorithm utilizes raw data in the form of a polar histogram that is read from a Laser Range Finder (LRF) and a camera. A desired open block is determined from the raw data utilizing a navigational heading and an elliptical approximation. The left and right most radii are determined from the calculated edges of the open block and provide the range of possible radial paths the IGV can travel through. In addition, the calculated obstacle edge positions allow the IGV to recognize complex obstacle arrangements and to slow down accordingly. A radial path optimization function calculates the best radial path between the left and right most radii and is sent to motion control for speed determination. Overall, the RPH algorithm allows the IGV to autonomously travel at average speeds of 3mph while avoiding all obstacles, with a processing time of approximately 10ms.

  5. A path planning method for robot end effector motion using the curvature theory of the ruled surfaces

    Science.gov (United States)

    Güler, Fatma; Kasap, Emin

    Using the curvature theory for the ruled surfaces a technique for robot trajectory planning is presented. This technique ensures the calculation of robot’s next path. The positional variation of the Tool Center Point (TCP), linear velocity, angular velocity are required in the work area of the robot. In some circumstances, it may not be physically achievable and a re-computation of the robot trajectory might be necessary. This technique is suitable for re-computation of the robot trajectory. We obtain different robot trajectories which change depending on the darboux angle function and define trajectory ruled surface family with a common trajectory curve with the rotation trihedron. Also, the motion of robot end effector is illustrated with examples.

  6. Towards heterogeneous robot team path planning: acquisition of multiple routes with a modified spline-based algorithm

    Directory of Open Access Journals (Sweden)

    Lavrenov Roman

    2017-01-01

    Full Text Available Our research focuses on operation of a heterogeneous robotic group that carries out point-to point navigation in GPS-denied dynamic environment, applying a combined local and global planning approach. In this paper, we introduce a homotopy-based high-level planner, which uses a modified splinebased path-planning algorithm. The algorithm utilizes Voronoi graph for global planning and a set of optimization criteria for local improvements of selected paths. The simulation was implemented in Matlab environment.

  7. Fractional path planning and path tracking

    International Nuclear Information System (INIS)

    Melchior, P.; Jallouli-Khlif, R.; Metoui, B.

    2011-01-01

    This paper presents the main results of the application of fractional approach in path planning and path tracking. A new robust path planning design for mobile robot was studied in dynamic environment. The normalized attractive force applied to the robot is based on a fictitious fractional attractive potential. This method allows to obtain robust path planning despite robot mass variation. The danger level of each obstacles is characterized by the fractional order of the repulsive potential of the obstacles. Under these conditions, the robot dynamic behavior was studied by analyzing its X - Y path planning with dynamic target or dynamic obstacles. The case of simultaneously mobile obstacles and target is also considered. The influence of the robot mass variation is studied and the robustness analysis of the obtained path shows the robustness improvement due to the non integer order properties. Pre shaping approach is used to reduce system vibration in motion control. Desired systems inputs are altered so that the system finishes the requested move without residual vibration. This technique, developed by N.C. Singer and W.P.Seering, is used for flexible structure control, particularly in the aerospace field. In a previous work, this method was extended for explicit fractional derivative systems and applied to second generation CRONE control, the robustness was also studied. CRONE (the French acronym of C ommande Robuste d'Ordre Non Entier ) control system design is a frequency-domain based methodology using complex fractional integration.

  8. Efficient Kinect Sensor-Based Reactive Path Planning Method for Autonomous Mobile Robots in Dynamic Environments

    Energy Technology Data Exchange (ETDEWEB)

    Tuvshinjargal, Doopalam; Lee, Deok Jin [Kunsan National University, Gunsan (Korea, Republic of)

    2015-06-15

    In this paper, an efficient dynamic reactive motion planning method for an autonomous vehicle in a dynamic environment is proposed. The purpose of the proposed method is to improve the robustness of autonomous robot motion planning capabilities within dynamic, uncertain environments by integrating a virtual plane-based reactive motion planning technique with a sensor fusion-based obstacle detection approach. The dynamic reactive motion planning method assumes a local observer in the virtual plane, which allows the effective transformation of complex dynamic planning problems into simple stationary ones proving the speed and orientation information between the robot and obstacles. In addition, the sensor fusion-based obstacle detection technique allows the pose estimation of moving obstacles using a Kinect sensor and sonar sensors, thus improving the accuracy and robustness of the reactive motion planning approach. The performance of the proposed method was demonstrated through not only simulation studies but also field experiments using multiple moving obstacles in hostile dynamic environments.

  9. Efficient Kinect Sensor-Based Reactive Path Planning Method for Autonomous Mobile Robots in Dynamic Environments

    International Nuclear Information System (INIS)

    Tuvshinjargal, Doopalam; Lee, Deok Jin

    2015-01-01

    In this paper, an efficient dynamic reactive motion planning method for an autonomous vehicle in a dynamic environment is proposed. The purpose of the proposed method is to improve the robustness of autonomous robot motion planning capabilities within dynamic, uncertain environments by integrating a virtual plane-based reactive motion planning technique with a sensor fusion-based obstacle detection approach. The dynamic reactive motion planning method assumes a local observer in the virtual plane, which allows the effective transformation of complex dynamic planning problems into simple stationary ones proving the speed and orientation information between the robot and obstacles. In addition, the sensor fusion-based obstacle detection technique allows the pose estimation of moving obstacles using a Kinect sensor and sonar sensors, thus improving the accuracy and robustness of the reactive motion planning approach. The performance of the proposed method was demonstrated through not only simulation studies but also field experiments using multiple moving obstacles in hostile dynamic environments

  10. Intelligent coverage path planning for agricultural robots and autonomous machines on three-dimensional terrain

    DEFF Research Database (Denmark)

    Hameed, Ibahim

    2014-01-01

    Field operations should be done in a manner that minimizes time and travels over the field surface. Automated and intelligent path planning can help to find the best coverage path so that costs of various field operations can be minimized. The algorithms for generating an optimized field coverage...

  11. Path Planning and Replanning for Mobile Robot Navigation on 3D Terrain: An Approach Based on Geodesic

    Directory of Open Access Journals (Sweden)

    Kun-Lin Wu

    2016-01-01

    Full Text Available In this paper, mobile robot navigation on a 3D terrain with a single obstacle is addressed. The terrain is modelled as a smooth, complete manifold with well-defined tangent planes and the hazardous region is modelled as an enclosing circle with a hazard grade tuned radius representing the obstacle projected onto the terrain to allow efficient path-obstacle intersection checking. To resolve the intersections along the initial geodesic, by resorting to the geodesic ideas from differential geometry on surfaces and manifolds, we present a geodesic-based planning and replanning algorithm as a new method for obstacle avoidance on a 3D terrain without using boundary following on the obstacle surface. The replanning algorithm generates two new paths, each a composition of two geodesics, connected via critical points whose locations are found to be heavily relying on the exploration of the terrain via directional scanning on the tangent plane at the first intersection point of the initial geodesic with the circle. An advantage of this geodesic path replanning procedure is that traversability of terrain on which the detour path traverses could be explored based on the local Gauss-Bonnet Theorem of the geodesic triangle at the planning stage. A simulation demonstrates the practicality of the analytical geodesic replanning procedure for navigating a constant speed point robot on a 3D hill-like terrain.

  12. Solving the empty space problem in robot path planning by mathematical morphology

    NARCIS (Netherlands)

    Roerdink, J.B.T.M.

    1993-01-01

    In this paper we formulate a morphological approach to path planning problems, in particular with respect to the empty­-space problem, that is, the question of finding the allowed states for an object, moving in a space with obstacles. Our approach is based upon a recent generalization of

  13. Welding Robot Collision-Free Path Optimization

    Directory of Open Access Journals (Sweden)

    Xuewu Wang

    2017-02-01

    Full Text Available Reasonable welding path has a significant impact on welding efficiency, and a collision-free path should be considered first in the process of welding robot path planning. The shortest path length is considered as an optimization objective, and obstacle avoidance is considered as the constraint condition in this paper. First, a grid method is used as a modeling method after the optimization objective is analyzed. For local collision-free path planning, an ant colony algorithm is selected as the search strategy. Then, to overcome the shortcomings of the ant colony algorithm, a secondary optimization is presented to improve the optimization performance. Finally, the particle swarm optimization algorithm is used to realize global path planning. Simulation results show that the desired welding path can be obtained based on the optimization strategy.

  14. Path Planning of Mobile Elastic Robotic Arms by Indirect Approach of Optimal Control

    Directory of Open Access Journals (Sweden)

    Moharam Habibnejad Korayem

    2011-03-01

    Full Text Available Finding optimal trajectory is critical in several applications of robot manipulators. This paper is applied the open-loop optimal control approach for generating the optimal trajectory of the flexible mobile manipulators in point-to-point motion. This method is based on the Pontryagin-s minimum principle that by providing a two-point boundary value problem is solved the problem. This problem is known to be complex in particular when combined motion of the base and manipulator, non-holonomic constraint of the base and highly non-linear and complicated dynamic equations as a result of flexible nature of links are taken into account. The study emphasizes on modeling of the complete optimal control problem by remaining all nonlinear state and costate variables as well as control constraints. In this method, designer can compromise between different objectives by considering the proper penalty matrices and it yields to choose the proper trajectory among the various paths. The effectiveness and capability of the proposed approach are demonstrated through simulation studies. Finally, to verify the proposed method, the simulation results obtained from the model are compared with the results of those available in the literature.

  15. Toward Shared Working Space of Human and Robotic Agents Through Dipole Flow Field for Dependable Path Planning.

    Science.gov (United States)

    Trinh, Lan Anh; Ekström, Mikael; Cürüklü, Baran

    2018-01-01

    Recent industrial developments in autonomous systems, or agents, which assume that humans and the agents share the same space or even work in close proximity, open for new challenges in robotics, especially in motion planning and control. In these settings, the control system should be able to provide these agents a reliable path following control when they are working in a group or in collaboration with one or several humans in complex and dynamic environments. In such scenarios, these agents are not only moving to reach their goals, i.e., locations, they are also aware of the movements of other entities to find a collision-free path. Thus, this paper proposes a dependable, i.e., safe, reliable and effective, path planning algorithm for a group of agents that share their working space with humans. Firstly, the method employs the Theta * algorithm to initialize the paths from a starting point to a goal for a set of agents. As Theta * algorithm is computationally heavy, it only reruns when there is a significant change of the environment. To deal with the movements of the agents, a static flow field along the configured path is defined. This field is used by the agents to navigate and reach their goals even if the planned trajectories are changed. Secondly, a dipole field is calculated to avoid the collision of agents with other agents and human subjects. In this approach, each agent is assumed to be a source of a magnetic dipole field in which the magnetic moment is aligned with the moving direction of the agent. The magnetic dipole-dipole interactions between these agents generate repulsive forces to help them to avoid collision. The effectiveness of the proposed approach has been evaluated with extensive simulations. The results show that the static flow field is able to drive agents to the goals with a small number of requirements to update the path of agents. Meanwhile, the dipole flow field plays an important role to prevent collisions. The combination of

  16. Toward Shared Working Space of Human and Robotic Agents Through Dipole Flow Field for Dependable Path Planning

    Directory of Open Access Journals (Sweden)

    Lan Anh Trinh

    2018-06-01

    Full Text Available Recent industrial developments in autonomous systems, or agents, which assume that humans and the agents share the same space or even work in close proximity, open for new challenges in robotics, especially in motion planning and control. In these settings, the control system should be able to provide these agents a reliable path following control when they are working in a group or in collaboration with one or several humans in complex and dynamic environments. In such scenarios, these agents are not only moving to reach their goals, i.e., locations, they are also aware of the movements of other entities to find a collision-free path. Thus, this paper proposes a dependable, i.e., safe, reliable and effective, path planning algorithm for a group of agents that share their working space with humans. Firstly, the method employs the Theta* algorithm to initialize the paths from a starting point to a goal for a set of agents. As Theta* algorithm is computationally heavy, it only reruns when there is a significant change of the environment. To deal with the movements of the agents, a static flow field along the configured path is defined. This field is used by the agents to navigate and reach their goals even if the planned trajectories are changed. Secondly, a dipole field is calculated to avoid the collision of agents with other agents and human subjects. In this approach, each agent is assumed to be a source of a magnetic dipole field in which the magnetic moment is aligned with the moving direction of the agent. The magnetic dipole-dipole interactions between these agents generate repulsive forces to help them to avoid collision. The effectiveness of the proposed approach has been evaluated with extensive simulations. The results show that the static flow field is able to drive agents to the goals with a small number of requirements to update the path of agents. Meanwhile, the dipole flow field plays an important role to prevent collisions. The

  17. Autonomous Navigation, Dynamic Path and Work Flow Planning in Multi-Agent Robotic Swarms

    Data.gov (United States)

    National Aeronautics and Space Administration — Kennedy Space Center has teamed up with the Biological Computation Lab at the University of New Mexico to create a swarm of small, low-cost, autonomous robots,...

  18. Robot path Planning Using  SIFT and Sonar Sensor Fusion

    DEFF Research Database (Denmark)

    Plascencia, Alfredo; Raposo, Hector

    2007-01-01

    and evidential grid maps, respectively. The approach is illustrated using actual measurements from a laboratory robot. The sensory information is obtained from a sonar array and the Scale Invariant Feature Transform (SIFT) algorithm. Finally, the resulting two evidential maps based on Bayes and Dempster theories...

  19. Side-to-side 3D coverage path planning approach for agricultural robots to minimize skip/overlap areas between swaths

    DEFF Research Database (Denmark)

    Hameed, Ibrahim; la Cour-Harbo, Anders; Osen, O. L.

    2016-01-01

    Automated path planning is important for the automation and optimization of field operations. It can provide the waypoints required for guidance, navigation and control of agricultural robots and autonomous tractors throughout the execution of these field operations. In agriculture, field...... operations are usually repeated in the same field and from year to year as well, therefore, it should be carried out in a manner that minimizes environmental impact and cost taking into account the topographic land features. Current 3D terrain field coverage path planning algorithms are simply 2D coverage...

  20. Multi Robot Path Planning for Budgeted Active Perception with Self-Organising Maps

    Science.gov (United States)

    2016-10-04

    5], [6], [7], but the formulations have been limited to restricted cases, such as a single object or a constrained action space. Little attention has...solution paths. Object parts are shown in the coloured point clouds. Viewpoint regions are coloured black (low reward), orange (medium) and yellow (high

  1. 视觉移动机器人的模糊智能路径规划%Intelligent Path Planning of Vision- Based Mobile Robot with Fuzzy Approach

    Institute of Scientific and Technical Information of China (English)

    张一巍; 黄源清

    2002-01-01

    The path planning problem for intelligent mobile robots inwbves two main problems: the represent of task emionment including obstacles and the development of a strategy to determine a collision - free route. In this paper, new approaches have been developed to solve these problems .The first problem was solve using the fuzzy system approach, which represent obstacles with a circle. The other problem was overcome throughthe use of a strategy selector, which chooses the best stategy between velocity control strategy and direction control strategy.

  2. Intelligent robot action planning

    Energy Technology Data Exchange (ETDEWEB)

    Vamos, T; Siegler, A

    1982-01-01

    Action planning methods used in intelligent robot control are discussed. Planning is accomplished through environment understanding, environment representation, task understanding and planning, motion analysis and man-machine communication. These fields are analysed in detail. The frames of an intelligent motion planning system are presented. Graphic simulation of the robot's environment and motion is used to support the planning. 14 references.

  3. 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

  4. Path planning in changeable environments

    NARCIS (Netherlands)

    Nieuwenhuisen, D.

    2007-01-01

    This thesis addresses path planning in changeable environments. In contrast to traditional path planning that deals with static environments, in changeable environments objects are allowed to change their configurations over time. In many cases, path planning algorithms must facilitate quick

  5. A Piecewise Acceleration-Optimal and Smooth-Jerk Trajectory Planning Method for Robot Manipulator along a Predefined Path

    Directory of Open Access Journals (Sweden)

    Yuan Chen

    2011-09-01

    Full Text Available This paper proposes a piecewise acceleration-optimal and smooth-jerk trajectory planning method of robot manipulator. The optimal objective function is given by the weighted sum of two terms having opposite effects: the maximal acceleration and the minimal jerk. Some computing techniques are proposed to determine the optimal solution. These techniques take both the time intervals between two interpolation points and the control points of B-spline function as optimal variables, redefine the kinematic constraints as the constraints of optimal variables, and reformulate the objective function in matrix form. The feasibility of the optimal method is illustrated by simulation and experimental results with pan mechanism for cooking robot.

  6. Learning to improve path planning performance

    International Nuclear Information System (INIS)

    Chen, Pang C.

    1995-04-01

    In robotics, path planning refers to finding a short. collision-free path from an initial robot configuration to a desired configuratioin. It has to be fast to support real-time task-level robot programming. Unfortunately, current planning techniques are still too slow to be effective, as they often require several minutes, if not hours of computation. To remedy this situation, we present and analyze a learning algorithm that uses past experience to increase future performance. The algorithm relies on an existing path planner to provide solutions to difficult tasks. From these solutions, an evolving sparse network of useful robot configurations is learned to support faster planning. More generally, the algorithm provides a speedup-learning framework in which a slow but capable planner may be improved both cost-wise and capability-wise by a faster but less capable planner coupled with experience. The basic algorithm is suitable for stationary environments, and can be extended to accommodate changing environments with on-demand experience repair and object-attached experience abstraction. To analyze the algorithm, we characterize the situations in which the adaptive planner is useful, provide quantitative bounds to predict its behavior, and confirm our theoretical results with experiments in path planning of manipulators. Our algorithm and analysis are sufficiently, general that they may also be applied to other planning domains in which experience is useful

  7. Software for Project-Based Learning of Robot Motion Planning

    Science.gov (United States)

    Moll, Mark; Bordeaux, Janice; Kavraki, Lydia E.

    2013-01-01

    Motion planning is a core problem in robotics concerned with finding feasible paths for a given robot. Motion planning algorithms perform a search in the high-dimensional continuous space of robot configurations and exemplify many of the core algorithmic concepts of search algorithms and associated data structures. Motion planning algorithms can…

  8. Integrated assignment and path planning

    Science.gov (United States)

    Murphey, Robert A.

    2005-11-01

    A surge of interest in unmanned systems has exposed many new and challenging research problems across many fields of engineering and mathematics. These systems have the potential of transforming our society by replacing dangerous and dirty jobs with networks of moving machines. This vision is fundamentally separate from the modern view of robotics in that sophisticated behavior is realizable not by increasing individual vehicle complexity, but instead through collaborative teaming that relies on collective perception, abstraction, decision making, and manipulation. Obvious examples where collective robotics will make an impact include planetary exploration, space structure assembly, remote and undersea mining, hazardous material handling and clean-up, and search and rescue. Nonetheless, the phenomenon driving this technology trend is the increasing reliance of the US military on unmanned vehicles, specifically, aircraft. Only a few years ago, following years of resistance to the use of unmanned systems, the military and civilian leadership in the United States reversed itself and have recently demonstrated surprisingly broad acceptance of increasingly pervasive use of unmanned platforms in defense surveillance, and even attack. However, as rapidly as unmanned systems have gained acceptance, the defense research community has discovered the technical pitfalls that lie ahead, especially for operating collective groups of unmanned platforms. A great deal of talent and energy has been devoted to solving these technical problems, which tend to fall into two categories: resource allocation of vehicles to objectives, and path planning of vehicle trajectories. An extensive amount of research has been conducted in each direction, yet, surprisingly, very little work has considered the integrated problem of assignment and path planning. This dissertation presents a framework for studying integrated assignment and path planning and then moves on to suggest an exact

  9. Path Planning Method in Multi-obstacle Marine Environment

    Science.gov (United States)

    Zhang, Jinpeng; Sun, Hanxv

    2017-12-01

    In this paper, an improved algorithm for particle swarm optimization is proposed for the application of underwater robot in the complex marine environment. Not only did consider to avoid obstacles when path planning, but also considered the current direction and the size effect on the performance of the robot dynamics. The algorithm uses the trunk binary tree structure to construct the path search space and A * heuristic search method is used in the search space to find a evaluation standard path. Then the particle swarm algorithm to optimize the path by adjusting evaluation function, which makes the underwater robot in the current navigation easier to control, and consume less energy.

  10. Optimum path planning of mobile robot in unknown static and dynamic environments using Fuzzy-Wind Driven Optimization algorithm

    Directory of Open Access Journals (Sweden)

    Anish Pandey

    2017-02-01

    Full Text Available This article introduces a singleton type-1 fuzzy logic system (T1-SFLS controller and Fuzzy-WDO hybrid for the autonomous mobile robot navigation and collision avoidance in an unknown static and dynamic environment. The WDO (Wind Driven Optimization algorithm is used to optimize and tune the input/output membership function parameters of the fuzzy controller. The WDO algorithm is working based on the atmospheric motion of infinitesimal small air parcels navigates over an N-dimensional search domain. The performance of this proposed technique has compared through many computer simulations and real-time experiments by using Khepera-III mobile robot. As compared to the T1-SFLS controller the Fuzzy-WDO algorithm is found good agreement for mobile robot navigation.

  11. A Novel Passive Path Following Controller for a Rehabilitation Robot

    National Research Council Canada - National Science Library

    Zhang, X; Behal, A; Dawson, D. M; Chen, J

    2004-01-01

    .... Motivated by a nonholonomic kinematic constraint, a dynamic path generator is designed to trace a desired contour in the robot's workspace when an interaction force is applied at the robot's end-effector...

  12. Flexible integration of path-planning capabilities

    Science.gov (United States)

    Stobie, Iain C.; Tambe, Milind; Rosenbloom, Paul S.

    1993-05-01

    Robots pursuing complex goals must plan paths according to several criteria of quality, including shortness, safety, speed and planning time. Many sources and kinds of knowledge, such as maps, procedures and perception, may be available or required. Both the quality criteria and sources of knowledge may vary widely over time, and in general they will interact. One approach to address this problem is to express all criteria and goals numerically in a single weighted graph, and then to search this graph to determine a path. Since this is problematic with symbolic or uncertain data and interacting criteria, we propose that what is needed instead is an integration of many kinds of planning capabilities. We describe a hybrid approach to integration, based on experiments with building simulated mobile robots using Soar, an integrated problem-solving and learning system. For flexibility, we have implemented a combination of internal planning, reactive capabilities and specialized tools. We illustrate how these components can complement each other's limitations and produce plans which integrate geometric and task knowledge.

  13. Motion planning for multiple robots

    NARCIS (Netherlands)

    Aronov, B.; Berg, de M.; van der Stappen, A.F.; Svestka, P.; Vleugels, J.M.

    1999-01-01

    We study the motion-planning problem for pairs and triples of robots operating in a shared workspace containing n obstacles. A standard way to solve such problems is to view the collection of robots as one composite robot, whose number of degrees of freedom is d , the sum of the numbers of degrees

  14. Path Planning with a Lazy Significant Edge Algorithm (LSEA

    Directory of Open Access Journals (Sweden)

    Joseph Polden

    2013-04-01

    Full Text Available Probabilistic methods have been proven to be effective for robotic path planning in a geometrically complex environment. In this paper, we propose a novel approach, which utilizes a specialized roadmap expansion phase, to improve lazy probabilistic path planning. This expansion phase analyses roadmap connectivity information to bias sampling towards objects in the workspace that have not yet been navigated by the robot. A new method to reduce the number of samples required to navigate narrow passages is also proposed and tested. Experimental results show that the new algorithm is more efficient than the traditional path planning methodologies. It was able to generate solutions for a variety of path planning problems faster, using fewer samples to arrive at a valid solution.

  15. A New Method of Global Path Planning for AGV

    Institute of Scientific and Technical Information of China (English)

    SHI En-xiu; HUANG Yu-mei

    2006-01-01

    Path planning is important in the research of a mobile robot (MR). Methods for it have been used in different applications. An automated guided vehicle(AGV), which is a kind of MR, is used in a flexible manufacturing system(FMS). Path planning for it is essential to improve the efficiency of FMS. A new method was proposed with known obstacle space FMS in this paper. FMS is described by the Augmented Pos Matrix of a Machine (APMM) and Relative Pos Matrix of Machines (RPMM), which is smaller. The optimum path can be obtained according to the probability of the path and the maximal probability path. The suggested algorithm of path planning was good performance through simulation result: simplicity, saving time and reliability.

  16. Pure-Pursuit Reactive Path Tracking for Nonholonomic Mobile Robots with a 2D Laser Scanner

    Directory of Open Access Journals (Sweden)

    Jesús Morales

    2009-01-01

    Full Text Available Due to its simplicity and efficiency, the pure-pursuit path tracking method has been widely employed for planned navigation of nonholonomic ground vehicles. In this paper, we investigate the application of this technique for reactive tracking of paths that are implicitly defined by perceived environmental features. Goal points are obtained through an efficient interpretation of range data from an onboard 2D laser scanner to follow persons, corridors, and walls. Moreover, this formulation allows that a robotic mission can be composed of a combination of different types of path segments. These techniques have been successfully tested in the tracked mobile robot Auriga-α in an indoor environment.

  17. Rough terrain motion planning for actively reconfigurable mobile robots

    Energy Technology Data Exchange (ETDEWEB)

    Brunner, Michael

    2015-02-05

    In the aftermath of the Tohoku earthquake and the nuclear meltdown at the power plant of Fukushima Daiichi in 2011, reconfigurable robots like the iRobot Packbot were deployed. Instead of humans, the robots were used to investigate contaminated areas. Other incidents are the two major earthquakes in Northern Italy in May 2012. Besides many casualties, a large number of historical buildings was severely damaged. Due to the imminent danger of collapse, it was too dangerous for rescue personnel to enter many of the buildings. Therefore, the sites were inspected by reconfigurable robots, which are able to traverse the rubble and debris of the partially destroyed buildings. This thesis develops a navigation system enabling wheeled and tracked robots to safely traverse rough terrain and challenging structures. It consists of a planning mechanism and a controller. The focus of this thesis, however, is on the contribution to motion planning. The planning scheme employs a hierarchical approach to motion planning for actively reconfigurable robots in rough environments. Using a map of the environment the algorithm estimates the traversability under the consideration of uncertainties. Based on this analysis, an initial path search determines an approximate solution with respect to the robot's operating limits.Subsequently, a detailed planning step refines the initial path where it is required. The refinement step considers the robot's actuators and stability in addition to the quantities of the first search. Determining the robot-terrain interaction is very important in rough terrain. This thesis presents two path refinement approaches: a deterministic and a randomized approach. The experimental evaluation investigates the separate components of the planning scheme, the robot-terrain interaction for instance.In simulation as well as in real world experiments the evaluation demonstrates the necessity of such a planning algorithm in rough terrain and it provides

  18. Rough terrain motion planning for actively reconfigurable mobile robots

    International Nuclear Information System (INIS)

    Brunner, Michael

    2015-01-01

    In the aftermath of the Tohoku earthquake and the nuclear meltdown at the power plant of Fukushima Daiichi in 2011, reconfigurable robots like the iRobot Packbot were deployed. Instead of humans, the robots were used to investigate contaminated areas. Other incidents are the two major earthquakes in Northern Italy in May 2012. Besides many casualties, a large number of historical buildings was severely damaged. Due to the imminent danger of collapse, it was too dangerous for rescue personnel to enter many of the buildings. Therefore, the sites were inspected by reconfigurable robots, which are able to traverse the rubble and debris of the partially destroyed buildings. This thesis develops a navigation system enabling wheeled and tracked robots to safely traverse rough terrain and challenging structures. It consists of a planning mechanism and a controller. The focus of this thesis, however, is on the contribution to motion planning. The planning scheme employs a hierarchical approach to motion planning for actively reconfigurable robots in rough environments. Using a map of the environment the algorithm estimates the traversability under the consideration of uncertainties. Based on this analysis, an initial path search determines an approximate solution with respect to the robot's operating limits.Subsequently, a detailed planning step refines the initial path where it is required. The refinement step considers the robot's actuators and stability in addition to the quantities of the first search. Determining the robot-terrain interaction is very important in rough terrain. This thesis presents two path refinement approaches: a deterministic and a randomized approach. The experimental evaluation investigates the separate components of the planning scheme, the robot-terrain interaction for instance.In simulation as well as in real world experiments the evaluation demonstrates the necessity of such a planning algorithm in rough terrain and it provides

  19. Cooperative path planning of unmanned aerial vehicles

    CERN Document Server

    Tsourdos, Antonios; Shanmugavel, Madhavan

    2010-01-01

    An invaluable addition to the literature on UAV guidance and cooperative control, Cooperative Path Planning of Unmanned Aerial Vehicles is a dedicated, practical guide to computational path planning for UAVs. One of the key issues facing future development of UAVs is path planning: it is vital that swarm UAVs/ MAVs can cooperate together in a coordinated manner, obeying a pre-planned course but able to react to their environment by communicating and cooperating. An optimized path is necessary in order to ensure a UAV completes its mission efficiently, safely, and successfully. Focussing on the path planning of multiple UAVs for simultaneous arrival on target, Cooperative Path Planning of Unmanned Aerial Vehicles also offers coverage of path planners that are applicable to land, sea, or space-borne vehicles. Cooperative Path Planning of Unmanned Aerial Vehicles is authored by leading researchers from Cranfield University and provides an authoritative resource for researchers, academics and engineers working in...

  20. Planning strategies for the Ambler walking robot

    Science.gov (United States)

    Wettergreen, David; Thomas, Hans; Thorpe, Chuck

    1990-01-01

    A hierarchy of planning strategies is proposed and explained for a walking robot called the Ambler. The hierarchy decomposes planning into levels of trajectory, gait, and footfall. An abstraction of feasible traversability allows the Ambler's trajectory planner to identify acceptable trajectories by finding paths that guarantee footfalls without specifying exactly which footfalls. Leg and body moves that achieve this trajectory can be generated by the Ambler's gait planner, which incorporates pattern constraints and measures of utility to search for the best next move. By combining constraints from the quality and details of the terrain, the Ambler's footfall planner can select footfalls that insure stability and remain within the tolerances of the gait.

  1. 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...

  2. Using a virtual world for robot planning

    Science.gov (United States)

    Benjamin, D. Paul; Monaco, John V.; Lin, Yixia; Funk, Christopher; Lyons, Damian

    2012-06-01

    We are building a robot cognitive architecture that constructs a real-time virtual copy of itself and its environment, including people, and uses the model to process perceptual information and to plan its movements. This paper describes the structure of this architecture. The software components of this architecture include PhysX for the virtual world, OpenCV and the Point Cloud Library for visual processing, and the Soar cognitive architecture that controls the perceptual processing and task planning. The RS (Robot Schemas) language is implemented in Soar, providing the ability to reason about concurrency and time. This Soar/RS component controls visual processing, deciding which objects and dynamics to render into PhysX, and the degree of detail required for the task. As the robot runs, its virtual model diverges from physical reality, and errors grow. The Match-Mediated Difference component monitors these errors by comparing the visual data with corresponding data from virtual cameras, and notifies Soar/RS of significant differences, e.g. a new object that appears, or an object that changes direction unexpectedly. Soar/RS can then run PhysX much faster than real-time and search among possible future world paths to plan the robot's actions. We report experimental results in indoor environments.

  3. Strategic Team AI Path Plans: Probabilistic Pathfinding

    Directory of Open Access Journals (Sweden)

    Tng C. H. John

    2008-01-01

    Full Text Available This paper proposes a novel method to generate strategic team AI pathfinding plans for computer games and simulations using probabilistic pathfinding. This method is inspired by genetic algorithms (Russell and Norvig, 2002, in that, a fitness function is used to test the quality of the path plans. The method generates high-quality path plans by eliminating the low-quality ones. The path plans are generated by probabilistic pathfinding, and the elimination is done by a fitness test of the path plans. This path plan generation method has the ability to generate variation or different high-quality paths, which is desired for games to increase replay values. This work is an extension of our earlier work on team AI: probabilistic pathfinding (John et al., 2006. We explore ways to combine probabilistic pathfinding and genetic algorithm to create a new method to generate strategic team AI pathfinding plans.

  4. Interactive multi-objective path planning through a palette-based user interface

    Science.gov (United States)

    Shaikh, Meher T.; Goodrich, Michael A.; Yi, Daqing; Hoehne, Joseph

    2016-05-01

    n a problem where a human uses supervisory control to manage robot path-planning, there are times when human does the path planning, and if satisfied commits those paths to be executed by the robot, and the robot executes that plan. In planning a path, the robot often uses an optimization algorithm that maximizes or minimizes an objective. When a human is assigned the task of path planning for robot, the human may care about multiple objectives. This work proposes a graphical user interface (GUI) designed for interactive robot path-planning when an operator may prefer one objective over others or care about how multiple objectives are traded off. The GUI represents multiple objectives using the metaphor of an artist's palette. A distinct color is used to represent each objective, and tradeoffs among objectives are balanced in a manner that an artist mixes colors to get the desired shade of color. Thus, human intent is analogous to the artist's shade of color. We call the GUI an "Adverb Palette" where the word "Adverb" represents a specific type of objective for the path, such as the adverbs "quickly" and "safely" in the commands: "travel the path quickly", "make the journey safely". The novel interactive interface provides the user an opportunity to evaluate various alternatives (that tradeoff between different objectives) by allowing her to visualize the instantaneous outcomes that result from her actions on the interface. In addition to assisting analysis of various solutions given by an optimization algorithm, the palette has additional feature of allowing the user to define and visualize her own paths, by means of waypoints (guiding locations) thereby spanning variety for planning. The goal of the Adverb Palette is thus to provide a way for the user and robot to find an acceptable solution even though they use very different representations of the problem. Subjective evaluations suggest that even non-experts in robotics can carry out the planning tasks with a

  5. Path Planning Methods in an Environment with Obstacles (A Review

    Directory of Open Access Journals (Sweden)

    W. Liu

    2018-01-01

    Full Text Available Planning the path is the most important task in the mobile robot navigation. This task involves basically three aspects. First, the planned path must run from a given starting point to a given endpoint. Secondly, it should ensure robot’s collision-free movement. Thirdly, among all the possible paths that meet the first two requirements it must be, in a certain sense, optimal.Methods of path planning can be classified according to different characteristics. In the context of using intelligent technologies, they can be divided into traditional methods and heuristic ones. By the nature of the environment, it is possible to divide planning methods into planning methods in a static environment and in a dynamic one (it should be noted, however, that a static environment is rare. Methods can also be divided according to the completeness of information about the environment, namely methods with complete information (in this case the issue is a global path planning and methods with incomplete information (usually, this refers to the situational awareness in the immediate vicinity of the robot, in this case it is a local path planning. Note that incomplete information about the environment can be a consequence of the changing environment, i.e. in a dynamic environment, there is, usually, a local path planning.Literature offers a great deal of methods for path planning where various heuristic techniques are used, which, as a rule, result from the denotative meaning of the problem being solved. This review discusses the main approaches to the problem solution. Here we can distinguish five classes of basic methods: graph-based methods, methods based on cell decomposition, use of potential fields, optimization methods, фтв methods based on intelligent technologies.Many methods of path planning, as a result, give a chain of reference points (waypoints connecting the beginning and end of the path. This should be seen as an intermediate result. The problem

  6. Mission-directed path planning for planetary rover exploration

    Science.gov (United States)

    Tompkins, Paul

    2005-07-01

    Robotic rovers uniquely benefit planetary exploration---they enable regional exploration with the precision of in-situ measurements, a combination impossible from an orbiting spacecraft or fixed lander. Mission planning for planetary rover exploration currently utilizes sophisticated software for activity planning and scheduling, but simplified path planning and execution approaches tailored for localized operations to individual targets. This approach is insufficient for the investigation of multiple, regionally distributed targets in a single command cycle. Path planning tailored for this task must consider the impact of large scale terrain on power, speed and regional access; the effect of route timing on resource availability; the limitations of finite resource capacity and other operational constraints on vehicle range and timing; and the mutual influence between traverses and upstream and downstream stationary activities. Encapsulating this reasoning in an efficient autonomous planner would allow a rover to continue operating rationally despite significant deviations from an initial plan. This research presents mission-directed path planning that enables an autonomous, strategic reasoning capability for robotic explorers. Planning operates in a space of position, time and energy. Unlike previous hierarchical approaches, it treats these dimensions simultaneously to enable globally-optimal solutions. The approach calls on a near incremental search algorithm designed for planning and re-planning under global constraints, in spaces of higher than two dimensions. Solutions under this method specify routes that avoid terrain obstacles, optimize the collection and use of rechargable energy, satisfy local and global mission constraints, and account for the time and energy of interleaved mission activities. Furthermore, the approach efficiently re-plans in response to updates in vehicle state and world models, and is well suited to online operation aboard a robot

  7. An Architecture for Robot Assemblt Task Planning

    DEFF Research Database (Denmark)

    Sun, Hongyan

    1999-01-01

    This paper discusses an integrated robot assembly task planning system architecture. In such an integrated system, the robot motion commands produced from the planning system can be validated before done-loading for actual execution.......This paper discusses an integrated robot assembly task planning system architecture. In such an integrated system, the robot motion commands produced from the planning system can be validated before done-loading for actual execution....

  8. Motion Planning in Multi-robot Systems using Timed Automata

    DEFF Research Database (Denmark)

    Andersen, Michael. S.; Jensen, Rune S.; Bak, Thomas

    This paper dscribes how interacting timed automata can be used to model, analyze, and verify motion planning problems for systems with multiple mobile robots. The method assumes an infra-structure of simple unicycle type robots, moving om a planar grid. The motion of the robots, including simple...... kinematics, is captured in an automata formalism that allows formal composition and symbolic reasoning. The verification software UppAal is used to verify specification requirements formulated in computational tree logic (CTL), generating all feasible trajectories that satisfy specifications. The results...... of the planning are demonstrateted in a testbed that allows execution of the planned paths and motion primitives by synchronizing the planning results from UppAal with actual robotic vehicles. The planning problem may be modified online by moving obstacles in the physical environment, which causes a re...

  9. 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.

  10. Spline-based automatic path generation of welding robot

    Institute of Scientific and Technical Information of China (English)

    Niu Xuejuan; Li Liangyu

    2007-01-01

    This paper presents a flexible method for the representation of welded seam based on spline interpolation. In this method, the tool path of welding robot can be generated automatically from a 3D CAD model. This technique has been implemented and demonstrated in the FANUC Arc Welding Robot Workstation. According to the method, a software system is developed using VBA of SolidWorks 2006. It offers an interface between SolidWorks and ROBOGUIDE, the off-line programming software of FANUC robot. It combines the strong modeling function of the former and the simulating function of the latter. It also has the capability of communication with on-line robot. The result data have shown its high accuracy and strong reliability in experiments. This method will improve the intelligence and the flexibility of the welding robot workstation.

  11. The development of radiation hardened tele-robot system - Development of path-planning and control technology for tele-operated redundant manipulator

    Energy Technology Data Exchange (ETDEWEB)

    Chang, Pyung Hun; Park, Ki Cheol; Park, Suk Ho [Korea Advanced Institute of Science and Technology, Taejon (Korea)

    1999-04-01

    This project focuses on the development of the control system for a teleoperated redundant manipulator, which performs many tasks dexterously, while avoiding obstacles, instead of human workers in the extreme situations like nuclear power plants. To this end, four consecutive research works have been performed. First, two new methods for global path-planning have been developed to inspect the global behavior of the redundant manipulator. Second, characteristics of optimal solutions(COS) under inequality constraints have been analyzed and, using the COS, how to greatly enhance the conventional redundancy resolution methods in terms of performance and repeatability has also been proposed. Third, an effective control method for a redundant manipulator has been developed, which incorporates all kinds of physical limits into practical inequality constraints and is computationally efficient for real-time purposes. Finally, using this control method as the controller of the slave redundant manipulator and developing a master manipulator, the inertial torque and gravitation torque of which are negligible, a force-reflected teleoperation control system has been developed. Through the teleoperation control system, human operator can accurately control the position and the force of the end-effector of the slave manipulator while feeling the interaction force between the slave and the workpiece. In addition, the slave redundant manipulator autonomously can control the impedance and can optimize a given performance measure while avoiding physical limits such as joint angle limits and obstacles. 49 refs., 43 figs., 10 tabs. (Author)

  12. Cooperative organic mine avoidance path planning

    Science.gov (United States)

    McCubbin, Christopher B.; Piatko, Christine D.; Peterson, Adam V.; Donnald, Creighton R.; Cohen, David

    2005-06-01

    The JHU/APL Path Planning team has developed path planning techniques to look for paths that balance the utility and risk associated with different routes through a minefield. Extending on previous years' efforts, we investigated real-world Naval mine avoidance requirements and developed a tactical decision aid (TDA) that satisfies those requirements. APL has developed new mine path planning techniques using graph based and genetic algorithms which quickly produce near-minimum risk paths for complicated fitness functions incorporating risk, path length, ship kinematics, and naval doctrine. The TDA user interface, a Java Swing application that obtains data via Corba interfaces to path planning databases, allows the operator to explore a fusion of historic and in situ mine field data, control the path planner, and display the planning results. To provide a context for the minefield data, the user interface also renders data from the Digital Nautical Chart database, a database created by the National Geospatial-Intelligence Agency containing charts of the world's ports and coastal regions. This TDA has been developed in conjunction with the COMID (Cooperative Organic Mine Defense) system. This paper presents a description of the algorithms, architecture, and application produced.

  13. Software for project-based learning of robot motion planning

    Science.gov (United States)

    Moll, Mark; Bordeaux, Janice; Kavraki, Lydia E.

    2013-12-01

    Motion planning is a core problem in robotics concerned with finding feasible paths for a given robot. Motion planning algorithms perform a search in the high-dimensional continuous space of robot configurations and exemplify many of the core algorithmic concepts of search algorithms and associated data structures. Motion planning algorithms can be explained in a simplified two-dimensional setting, but this masks many of the subtleties and complexities of the underlying problem. We have developed software for project-based learning of motion planning that enables deep learning. The projects that we have developed allow advanced undergraduate students and graduate students to reflect on the performance of existing textbook algorithms and their own variations on such algorithms. Formative assessment has been conducted at three institutions. The core of the software used for this teaching module is also used within the Robot Operating System, a widely adopted platform by the robotics research community. This allows for transfer of knowledge and skills to robotics research projects involving a large variety robot hardware platforms.

  14. Feasible Path Planning for Autonomous Vehicles

    Directory of Open Access Journals (Sweden)

    Vu Trieu Minh

    2014-01-01

    Full Text Available The objective of this paper is to find feasible path planning algorithms for nonholonomic vehicles including flatness, polynomial, and symmetric polynomial trajectories subject to the real vehicle dynamical constraints. Performances of these path planning methods are simulated and compared to evaluate the more realistic and smoother generated trajectories. Results show that the symmetric polynomial algorithm provides the smoothest trajectory. Therefore, this algorithm is recommended for the development of an automatic control for autonomous vehicles.

  15. Optimization approaches for robot trajectory planning

    Directory of Open Access Journals (Sweden)

    Carlos Llopis-Albert

    2018-03-01

    Full Text Available The development of optimal trajectory planning algorithms for autonomous robots is a key issue in order to efficiently perform the robot tasks. This problem is hampered by the complex environment regarding the kinematics and dynamics of robots with several arms and/or degrees of freedom (dof, the design of collision-free trajectories and the physical limitations of the robots. This paper presents a review about the existing robot motion planning techniques and discusses their pros and cons regarding completeness, optimality, efficiency, accuracy, smoothness, stability, safety and scalability.

  16. Transition Analysis and Its Application to Global Path Determination for a Biped Climbing Robot

    Directory of Open Access Journals (Sweden)

    Haifei Zhu

    2018-01-01

    Full Text Available Biped climbing robots are considered good assistants and (or substitutes for human workers carrying out high-rise truss-associated routine tasks. Flexible locomotion on three-dimensional complex trusses is a fundamental skill for these robots. In particular, the capability to transit from one structural member to another is paramount for switching objects to be climbed upon. In this paper, we study member-to-member transition and its utility in global path searching for biped climbing robots. To compute operational regions for transition, hierarchical inspection of safety, reachability, and accessibility of grips is taken into account. A novel global path rapid determination approach is subsequently proposed based on the transition analysis. This scheme is efficient for finding feasible routes with respect to the overall structural environment, which also benefits the subsequent grip and motion planning. Simulations are conducted with Climbot, our self-developed biped climbing robot, to verify the efficiency of the presented method. Results show that our proposed method is able to accurately determine the operational region for transition within tens of milliseconds and can obtain global paths within seconds in general.

  17. Path to a Research Plan

    Science.gov (United States)

    Chiaramonte, Fran

    2003-01-01

    This viewgraph presentation discusses the status and goals for the NASA OBPR Physical Science Research Program. The following text was used to summarize the presentation. The OBPR Physical Sciences Research program has been comprehensively reviewed and endorsed by National Research Council. The value and need for the research have been re-affirmed. The research program has been prioritized and resource re-allocations have been carried out through an OBPR-wide process. An increasing emphasis on strategic, mission-oriented research is planned. The program will strive to maintain a balance between strategic and fundamental research. A feasible ISS flight research program fitting within the budgetary and ISS resource envelopes has been formulated for the near term (2003-2007). The current ISS research program will be significantly strengthened starting 2005 by using discipline dedicated research facility racks. A research re-planning effort has been initiated and will include active participation from the research community in the next few months. The research re-planning effort will poise PSR to increase ISS research utilization for a potential enhancement beyond ISS IP Core Complete. The Physical Sciences research program readily integrates the cross-disciplinary requirements of the NASA and OBPR strategic objectives. Each fundamental research thrust will develop a roadmap through technical workshops and Discipline Working Groups (DWGs). Most fundamental research thrusts will involve cross-disciplinary efforts. A Technology Roadmap will guide the Strategic Research for Exploration thrust. The Research Plan will integrate and coordinate fundamental Research Thrusts Roadmaps with the Technology Roadmap. The Technology Roadmap will be developed in coordination with other OBPR programs as well as other Enterprise (R,S,M,N). International Partners will contribute to the roadmaps and through research coordination. The research plan will be vetted with the discipline

  18. Artificial pheromone for path selection by a foraging swarm of robots.

    Science.gov (United States)

    Campo, Alexandre; Gutiérrez, Alvaro; Nouyan, Shervin; Pinciroli, Carlo; Longchamp, Valentin; Garnier, Simon; Dorigo, Marco

    2010-11-01

    Foraging robots involved in a search and retrieval task may create paths to navigate faster in their environment. In this context, a swarm of robots that has found several resources and created different paths may benefit strongly from path selection. Path selection enhances the foraging behavior by allowing the swarm to focus on the most profitable resource with the possibility for unused robots to stop participating in the path maintenance and to switch to another task. In order to achieve path selection, we implement virtual ants that lay artificial pheromone inside a network of robots. Virtual ants are local messages transmitted by robots; they travel along chains of robots and deposit artificial pheromone on the robots that are literally forming the chain and indicating the path. The concentration of artificial pheromone on the robots allows them to decide whether they are part of a selected path. We parameterize the mechanism with a mathematical model and provide an experimental validation using a swarm of 20 real robots. We show that our mechanism favors the selection of the closest resource is able to select a new path if a selected resource becomes unavailable and selects a newly detected and better resource when possible. As robots use very simple messages and behaviors, the system would be particularly well suited for swarms of microrobots with minimal abilities.

  19. Planning paths through a spatial hierarchy - Eliminating stair-stepping effects

    Science.gov (United States)

    Slack, Marc G.

    1989-01-01

    Stair-stepping effects are a result of the loss of spatial continuity resulting from the decomposition of space into a grid. This paper presents a path planning algorithm which eliminates stair-stepping effects induced by the grid-based spatial representation. The algorithm exploits a hierarchical spatial model to efficiently plan paths for a mobile robot operating in dynamic domains. The spatial model and path planning algorithm map to a parallel machine, allowing the system to operate incrementally, thereby accounting for unexpected events in the operating space.

  20. Curvature-Continuous 3D Path-Planning Using QPMI Method

    Directory of Open Access Journals (Sweden)

    Seong-Ryong Chang

    2015-06-01

    Full Text Available It is impossible to achieve vertex movement and rapid velocity control in aerial robots and aerial vehicles because of momentum from the air. A continuous-curvature path ensures such robots and vehicles can fly with stable and continuous movements. General continuous path-planning methods use spline interpolation, for example B-spline and Bézier curves. However, these methods cannot be directly applied to continuous path planning in a 3D space. These methods use a subset of the waypoints to decide curvature and some waypoints are not included in the planned path. This paper proposes a method for constructing a curvature-continuous path in 3D space that includes every waypoint. The movements in each axis, x, y and z, are separated by the parameter u. Waypoint groups are formed, each with its own continuous path derived using quadratic polynomial interpolation. The membership function then combines each continuous path into one continuous path. The continuity of the path is verified and the curvature-continuous path is produced using the proposed method.

  1. Vehicle path-planning in three dimensions using optics analogs for optimizing visibility and energy cost

    Science.gov (United States)

    Rowe, Neil C.; Lewis, David H.

    1989-01-01

    Path planning is an important issue for space robotics. Finding safe and energy-efficient paths in the presence of obstacles and other constraints can be complex although important. High-level (large-scale) path planning for robotic vehicles was investigated in three-dimensional space with obstacles, accounting for: (1) energy costs proportional to path length; (2) turn costs where paths change trajectory abruptly; and (3) safety costs for the danger associated with traversing a particular path due to visibility or invisibility from a fixed set of observers. Paths optimal with respect to these cost factors are found. Autonomous or semi-autonomous vehicles were considered operating either in a space environment around satellites and space platforms, or aircraft, spacecraft, or smart missiles operating just above lunar and planetary surfaces. One class of applications concerns minimizing detection, as for example determining the best way to make complex modifications to a satellite without being observed by hostile sensors; another example is verifying there are no paths (holes) through a space defense system. Another class of applications concerns maximizing detection, as finding a good trajectory between mountain ranges of a planet while staying reasonably close to the surface, or finding paths for a flight between two locations that maximize the average number of triangulation points available at any time along the path.

  2. Cooperative Path-Planning for Multi-Vehicle Systems

    Directory of Open Access Journals (Sweden)

    Qichen Wang

    2014-11-01

    Full Text Available In this paper, we propose a collision avoidance algorithm for multi-vehicle systems, which is a common problem in many areas, including navigation and robotics. In dynamic environments, vehicles may become involved in potential collisions with each other, particularly when the vehicle density is high and the direction of travel is unrestricted. Cooperatively planning vehicle movement can effectively reduce and fairly distribute the detour inconvenience before subsequently returning vehicles to their intended paths. We present a novel method of cooperative path planning for multi-vehicle systems based on reinforcement learning to address this problem as a decision process. A dynamic system is described as a multi-dimensional space formed by vectors as states to represent all participating vehicles’ position and orientation, whilst considering the kinematic constraints of the vehicles. Actions are defined for the system to transit from one state to another. In order to select appropriate actions whilst satisfying the constraints of path smoothness, constant speed and complying with a minimum distance between vehicles, an approximate value function is iteratively developed to indicate the desirability of every state-action pair from the continuous state space and action space. The proposed scheme comprises two phases. The convergence of the value function takes place in the former learning phase, and it is then used as a path planning guideline in the subsequent action phase. This paper summarizes the concept and methodologies used to implement this online cooperative collision avoidance algorithm and presents results and analysis regarding how this cooperative scheme improves upon two baseline schemes where vehicles make movement decisions independently.

  3. Walking path-planning method for multiple radiation areas

    International Nuclear Information System (INIS)

    Liu, Yong-kuo; Li, Meng-kun; Peng, Min-jun; Xie, Chun-li; Yuan, Cheng-qian; Wang, Shuang-yu; Chao, Nan

    2016-01-01

    Highlights: • Radiation environment modeling method is designed. • Path-evaluating method and segmented path-planning method are proposed. • Path-planning simulation platform for radiation environment is built. • The method avoids to be misled by minimum dose path in single area. - Abstract: Based on minimum dose path-searching method, walking path-planning method for multiple radiation areas was designed to solve minimum dose path problem in single area and find minimum dose path in the whole space in this paper. Path-planning simulation platform was built using C# programming language and DirectX engine. The simulation platform was used in simulations dealing with virtual nuclear facilities. Simulation results indicated that the walking-path planning method is effective in providing safety for people walking in nuclear facilities.

  4. Picking Robot Arm Trajectory Planning Method

    Directory of Open Access Journals (Sweden)

    Zhang Zhiyong

    2014-01-01

    Full Text Available The picking robot arm is scheduled to complete picking tasks in the working space, to overcome the shaking vibration to improve the picking stability, its movement should follow specific consistence trajectory points. Usually we should give definite multiple feature picking points, map their inverse kinematics to the joint space, establish motion equation for the corresponding point in the joint space, then follow these equations motion for the interpolation on the joint so that we can meet the movement requirements. Trajectory planning is decisive significance for accuracy and stability of controlling robot arm. The key issue that picking arm complete picking task will be come true by trajectory planning, namely, robot arm track the desired trajectory. which based on kinematics and statics picking analysis in a joint space according to the requirements of picking tasks, and obtain the position and orientation for picking robot arm, study and calculate the theory of trajectory parameters timely.

  5. Visibility-based optimal path and motion planning

    CERN Document Server

    Wang, Paul Keng-Chieh

    2015-01-01

    This monograph deals with various visibility-based path and motion planning problems motivated by real-world applications such as exploration and mapping planetary surfaces, environmental surveillance using stationary or mobile robots, and imaging of global air/pollutant circulation. The formulation and solution of these problems call for concepts and methods from many areas of applied mathematics including computational geometry, set-covering, non-smooth optimization, combinatorial optimization and optimal control. Emphasis is placed on the formulation of new problems and methods of approach to these problems. Since geometry and visualization play important roles in the understanding of these problems, intuitive interpretations of the basic concepts are presented before detailed mathematical development. The development of a particular topic begins with simple cases illustrated by specific examples, and then progresses forward to more complex cases. The intended readers of this monograph are primarily studen...

  6. Autonomous guided vehicles methods and models for optimal path planning

    CERN Document Server

    Fazlollahtabar, Hamed

    2015-01-01

      This book provides readers with extensive information on path planning optimization for both single and multiple Autonomous Guided Vehicles (AGVs), and discusses practical issues involved in advanced industrial applications of AGVs. After discussing previously published research in the field and highlighting the current gaps, it introduces new models developed by the authors with the goal of reducing costs and increasing productivity and effectiveness in the manufacturing industry. The new models address the increasing complexity of manufacturing networks, due for example to the adoption of flexible manufacturing systems that involve automated material handling systems, robots, numerically controlled machine tools, and automated inspection stations, while also considering the uncertainty and stochastic nature of automated equipment such as AGVs. The book discusses and provides solutions to important issues concerning the use of AGVs in the manufacturing industry, including material flow optimization with A...

  7. Path planning of decentralized multi-quadrotor based on fuzzy-cell decomposition algorithm

    Science.gov (United States)

    Iswanto, Wahyunggoro, Oyas; Cahyadi, Adha Imam

    2017-04-01

    The paper aims to present a design algorithm for multi quadrotor lanes in order to move towards the goal quickly and avoid obstacles in an area with obstacles. There are several problems in path planning including how to get to the goal position quickly and avoid static and dynamic obstacles. To overcome the problem, therefore, the paper presents fuzzy logic algorithm and fuzzy cell decomposition algorithm. Fuzzy logic algorithm is one of the artificial intelligence algorithms which can be applied to robot path planning that is able to detect static and dynamic obstacles. Cell decomposition algorithm is an algorithm of graph theory used to make a robot path map. By using the two algorithms the robot is able to get to the goal position and avoid obstacles but it takes a considerable time because they are able to find the shortest path. Therefore, this paper describes a modification of the algorithms by adding a potential field algorithm used to provide weight values on the map applied for each quadrotor by using decentralized controlled, so that the quadrotor is able to move to the goal position quickly by finding the shortest path. The simulations conducted have shown that multi-quadrotor can avoid various obstacles and find the shortest path by using the proposed algorithms.

  8. Towards Informative Path Planning for Acoustic SLAM

    OpenAIRE

    Evers, C; Moore, A; Naylor, P

    2016-01-01

    Acoustic scene mapping is a challenging task as microphone arrays can often localize sound sources only in terms of their directions. Spatial diversity can be exploited constructively to infer source-sensor range when using microphone arrays installed on moving platforms, such as robots. As the absolute location of a moving robot is often unknown in practice, Acoustic Simultaneous Localization And Mapping (a-SLAM) is required in order to localize the moving robot?s positions and jointly map t...

  9. Planning and decision making for aerial robots

    CERN Document Server

    Bestaoui Sebbane, Yasmina

    2014-01-01

    This book provides an introduction to the emerging field of planning and decision making for aerial robots. An aerial robot is the ultimate form of Unmanned Aerial Vehicle, an aircraft endowed with built-in intelligence, requiring no direct human control and able to perform a specific task. It must be able to fly within a partially structured environment, to react and adapt to changing environmental conditions and to accommodate for the uncertainty that exists in the physical world. An aerial robot can be termed as a physical agent that exists and flies in the real 3D world, can sense its environment and act on it to achieve specific goals. So throughout this book, an aerial robot will also be termed as an agent.   Fundamental problems in aerial robotics include the tasks of spatial motion, spatial sensing and spatial reasoning. Reasoning in complex environments represents a difficult problem. The issues specific to spatial reasoning are planning and decision making. Planning deals with the trajectory algori...

  10. Static and Dynamic Path Planning Using Incremental Heuristic Search

    OpenAIRE

    Khattab, Asem

    2018-01-01

    Path planning is an important component in any highly automated vehicle system. In this report, the general problem of path planning is considered first in partially known static environments where only static obstacles are present but the layout of the environment is changing as the agent acquires new information. Attention is then given to the problem of path planning in dynamic environments where there are moving obstacles in addition to the static ones. Specifically, a 2D car-like agent t...

  11. Classification of obstacle shape for generating walking path of humanoid robot

    International Nuclear Information System (INIS)

    Park, Chan Soo; Kim, Do Ik

    2013-01-01

    To generate the walking path of a humanoid robot in an unknown environment, the shapes of obstacles around the robot should be detected accurately. However, doing so incurs a very large computational cast. Therefore this study proposes a method to classify the obstacle shape into three types: a shape small enough for the robot to go over, a shape planar enough for the robot foot to make contact with, and an uncertain shape that must be avoided by the robot. To classify the obstacle shape, first, the range and the number of the obstacles is detected. If an obstacle can make contact with the robot foot, the shape of an obstacle is accurately derived. If an obstacle has uncertain shape or small size, the shape of an obstacle is not detected to minimize the computational load. Experimental results show that the proposed algorithm efficiently classifies the shapes of obstacles around the robot in real time with low computational load

  12. Classification of obstacle shape for generating walking path of humanoid robot

    Energy Technology Data Exchange (ETDEWEB)

    Park, Chan Soo; Kim, Do Ik [Korea Institute of Science and Technology, Seoul (Korea, Republic of)

    2013-02-15

    To generate the walking path of a humanoid robot in an unknown environment, the shapes of obstacles around the robot should be detected accurately. However, doing so incurs a very large computational cast. Therefore this study proposes a method to classify the obstacle shape into three types: a shape small enough for the robot to go over, a shape planar enough for the robot foot to make contact with, and an uncertain shape that must be avoided by the robot. To classify the obstacle shape, first, the range and the number of the obstacles is detected. If an obstacle can make contact with the robot foot, the shape of an obstacle is accurately derived. If an obstacle has uncertain shape or small size, the shape of an obstacle is not detected to minimize the computational load. Experimental results show that the proposed algorithm efficiently classifies the shapes of obstacles around the robot in real time with low computational load.

  13. Path following control of planar snake robots using virtual holonomic constraints: theory and experiments.

    Science.gov (United States)

    Rezapour, Ehsan; Pettersen, Kristin Y; Liljebäck, Pål; Gravdahl, Jan T; Kelasidi, Eleni

    This paper considers path following control of planar snake robots using virtual holonomic constraints. In order to present a model-based path following control design for the snake robot, we first derive the Euler-Lagrange equations of motion of the system. Subsequently, we define geometric relations among the generalized coordinates of the system, using the method of virtual holonomic constraints. These appropriately defined constraints shape the geometry of a constraint manifold for the system, which is a submanifold of the configuration space of the robot. Furthermore, we show that the constraint manifold can be made invariant by a suitable choice of feedback. In particular, we analytically design a smooth feedback control law to exponentially stabilize the constraint manifold. We show that enforcing the appropriately defined virtual holonomic constraints for the configuration variables implies that the robot converges to and follows a desired geometric path. Numerical simulations and experimental results are presented to validate the theoretical approach.

  14. Continuous path control of a 5-DOF parallel-serial hybrid robot

    International Nuclear Information System (INIS)

    Uchiyama, Takuma; Terada, Hidetsugu; Mitsuya, Hironori

    2010-01-01

    Using the 5-degree of freedom parallel-serial hybrid robot, to realize the de-burring, new forward and inverse kinematic calculation methods based on the 'off-line teaching' method are proposed. This hybrid robot consists of a parallel stage section and a serial stage section. Considering this point, each section is calculated individually. And the continuous path control algorithm of this hybrid robot is proposed. To verify the usefulness, a prototype robot is tested which is controlled based on the proposed methods. This verification includes a positioning test and a pose test. The positioning test evaluates the continuous path of the tool center point. The pose test evaluates the pose on the tool center point. As the result, it is confirmed that this hybrid robot moves correctly using the proposed methods

  15. 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”.

  16. Bio-inspired motion planning algorithms for autonomous robots facilitating greater plasticity for security applications

    Science.gov (United States)

    Guo, Yi; Hohil, Myron; Desai, Sachi V.

    2007-10-01

    Proposed are techniques toward using collaborative robots for infrastructure security applications by utilizing them for mobile sensor suites. A vast number of critical facilities/technologies must be protected against unauthorized intruders. Employing a team of mobile robots working cooperatively can alleviate valuable human resources. Addressed are the technical challenges for multi-robot teams in security applications and the implementation of multi-robot motion planning algorithm based on the patrolling and threat response scenario. A neural network based methodology is exploited to plan a patrolling path with complete coverage. Also described is a proof-of-principle experimental setup with a group of Pioneer 3-AT and Centibot robots. A block diagram of the system integration of sensing and planning will illustrate the robot to robot interaction to operate as a collaborative unit. The proposed approach singular goal is to overcome the limits of previous approaches of robots in security applications and enabling systems to be deployed for autonomous operation in an unaltered environment providing access to an all encompassing sensor suite.

  17. Analysis of construction dynamic plan using fuzzy critical path method

    Directory of Open Access Journals (Sweden)

    Kurij Kazimir V.

    2014-01-01

    Full Text Available Critical Path Method (CPM technique has become widely recognized as valuable tool for the planning and scheduling large construction projects. The aim of this paper is to present an analytical method for finding the Critical Path in the precedence network diagram where the duration of each activity is represented by a trapezoidal fuzzy number. This Fuzzy Critical Path Method (FCPM uses a defuzzification formula for trapezoidal fuzzy number and applies it on the total float (slack time for each activity in the fuzzy precedence network to find the critical path. The method presented in this paper is very effective in determining the critical activities and finding the critical paths.

  18. Multi-AGV path planning with double-path constraints by using an improved genetic algorithm.

    Directory of Open Access Journals (Sweden)

    Zengliang Han

    Full Text Available This paper investigates an improved genetic algorithm on multiple automated guided vehicle (multi-AGV path planning. The innovations embody in two aspects. First, three-exchange crossover heuristic operators are used to produce more optimal offsprings for getting more information than with the traditional two-exchange crossover heuristic operators in the improved genetic algorithm. Second, double-path constraints of both minimizing the total path distance of all AGVs and minimizing single path distances of each AGV are exerted, gaining the optimal shortest total path distance. The simulation results show that the total path distance of all AGVs and the longest single AGV path distance are shortened by using the improved genetic algorithm.

  19. A 3D motion planning framework for snake robots

    OpenAIRE

    Liljebäck, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy

    2014-01-01

    - Author's postprint This paper presents a motion planning framework for three-dimensional body shape control of snake robots. Whereas conventional motion planning approaches define the body shape of snake robots in terms of their individual joint angles, the proposed framework allows the body shape to be specified in terms of Cartesian coordinates in the environment of the robot. This approach simplifies motion planning since Cartesian coordinates are more intuitively mapped to the overal...

  20. Resection planning for robotic acoustic neuroma surgery

    Science.gov (United States)

    McBrayer, Kepra L.; Wanna, George B.; Dawant, Benoit M.; Balachandran, Ramya; Labadie, Robert F.; Noble, Jack H.

    2016-03-01

    Acoustic neuroma surgery is a procedure in which a benign mass is removed from the Internal Auditory Canal (IAC). Currently this surgical procedure requires manual drilling of the temporal bone followed by exposure and removal of the acoustic neuroma. This procedure is physically and mentally taxing to the surgeon. Our group is working to develop an Acoustic Neuroma Surgery Robot (ANSR) to perform the initial drilling procedure. Planning the ANSR's drilling region using pre-operative CT requires expertise and around 35 minutes' time. We propose an approach for automatically producing a resection plan for the ANSR that would avoid damage to sensitive ear structures and require minimal editing by the surgeon. We first compute an atlas-based segmentation of the mastoid section of the temporal bone, refine it based on the position of anatomical landmarks, and apply a safety margin to the result to produce the automatic resection plan. In experiments with CTs from 9 subjects, our automated process resulted in a resection plan that was verified to be safe in every case. Approximately 2 minutes were required in each case for the surgeon to verify and edit the plan to permit functional access to the IAC. We measured a mean Dice coefficient of 0.99 and surface error of 0.08 mm between the final and automatically proposed plans. These preliminary results indicate that our approach is a viable method for resection planning for the ANSR and drastically reduces the surgeon's planning effort.

  1. Vision-based Navigation and Reinforcement Learning Path Finding for Social Robots

    OpenAIRE

    Pérez Sala, Xavier

    2010-01-01

    We propose a robust system for automatic Robot Navigation in uncontrolled en- vironments. The system is composed by three main modules: the Arti cial Vision module, the Reinforcement Learning module, and the behavior control module. The aim of the system is to allow a robot to automatically nd a path that arrives to a pre xed goal. Turn and straight movements in uncontrolled environments are automatically estimated and controlled using the proposed modules. The Arti cial Vi...

  2. Trajectory Planning with Pose Feedback for a Dual-Arm Space Robot

    Directory of Open Access Journals (Sweden)

    Yicheng Liu

    2016-01-01

    Full Text Available In order to obtain high precision path tracking for a dual-arm space robot, a trajectory planning method with pose feedback is proposed to be introduced into the design process in this paper. Firstly, pose error kinematic models are derived from the related kinematics and desired pose command for the end-effector and the base, respectively. On this basis, trajectory planning with pose feedback is proposed from a control perspective. Theoretical analyses show that the proposed trajectory planning algorithm can guarantee that pose error converges to zero exponentially for both the end-effector and the base when the robot is out of singular configuration. Compared with the existing algorithms, the proposed algorithm can lead to higher precision path tracking for the end-effector. Furthermore, the algorithm renders the system good anti-interference property for the base. Simulation results demonstrate the effectiveness of the proposed trajectory planning algorithm.

  3. Path planning in GPS-denied environments via collective intelligence of distributed sensor networks

    Science.gov (United States)

    Jha, Devesh K.; Chattopadhyay, Pritthi; Sarkar, Soumik; Ray, Asok

    2016-05-01

    This paper proposes a framework for reactive goal-directed navigation without global positioning facilities in unknown dynamic environments. A mobile sensor network is used for localising regions of interest for path planning of an autonomous mobile robot. The underlying theory is an extension of a generalised gossip algorithm that has been recently developed in a language-measure-theoretic setting. The algorithm has been used to propagate local decisions of target detection over a mobile sensor network and thus, it generates a belief map for the detected target over the network. In this setting, an autonomous mobile robot may communicate only with a few mobile sensing nodes in its own neighbourhood and localise itself relative to the communicating nodes with bounded uncertainties. The robot makes use of the knowledge based on the belief of the mobile sensors to generate a sequence of way-points, leading to a possible goal. The estimated way-points are used by a sampling-based motion planning algorithm to generate feasible trajectories for the robot. The proposed concept has been validated by numerical simulation on a mobile sensor network test-bed and a Dubin's car-like robot.

  4. Dynamic Arc Fitting Path Follower for Skid-Steered Mobile Robots

    Directory of Open Access Journals (Sweden)

    Peter Lepej

    2015-10-01

    Full Text Available Many applications, such as surveillance, inspection or search and rescue operations, can be performed with autonomous robots. Our aim is a control of modular autonomous systems in rescue robotics. One of the basic problems with autonomous robotics is the execution part where the control commands (translation and rotational velocities are produced for mobile bases. Therefore we have focused on this area because there is only a small amount of available path following software for skid-steered mobile robots. Our goal was to develop a velocity controller that could be used for multiple skid-steered mobile bases. We considered differential drive mobile bases such as tracked skid-steering mobile bases. Our approach is based on an arc fitting algorithm, which takes into account the robot constraints and kinematical model. It produces a continuous trajectory where fitting to the given path is adapted based on given parameters. Moreover, we have included orientation angle compensation while the mobile robot is moving and ground inclination compensation. Our rescue robot is described, together with the simulation setup and algorithm implementation. We compared our algorithm to the Hector-based software and curvature velocity approach. The results for the proposed algorithm are shown for the simulation results and the experiment.

  5. PLANNING IN ARTIFICIAL INTELLIGENCE AND ROBOTICS (PAIR

    Directory of Open Access Journals (Sweden)

    Editorial, Foreword

    2016-11-01

    Full Text Available September 18th, 2016Deggendorf, Germanyhttp://robotics.fel.cvut.cz/pair16/Organized by: Artificial Intelligence Center Department of Computer Science Faculty of Electrical Engineering Czech Technical University in PragueTechnicka 2, Prague 6, 166 27, Czech RepublicGuest editors:Jan Faigl (Artificial Intelligence Center, Department of Computer Science, Faculty of Electrical Engineering, Czech Technical University in PragueJiří Vokřínek (Artificial Intelligence Center, Department of Computer Science, Faculty of Electrical Engineering, Czech Technical University in PragueScientific comittee:D. Belter (Poznań University of Technology, PolandW. Dorner (Technische Hochschule Deggendorf, GermanyJ. Faigl (Czech Technical University in PragueT. Krajník (University of Lincoln, United KingdomA. Komenda (Czech Technical University in PragueG. Kupris (Technische Hochschule Deggendorf, GermanyM. Rollo (Czech Technical University in PragueM. Saska (Czech Technical University in PragueJ. Vokřínek (Czech Technical University in PragueV. Vonásek (Czech Technical University in PragueK. Walas (Poznań University of Technology, Poland Foreword:The third year of the student conference on “Planning in Artificial Intelligence and Robotics” (PAIR continues in joining young researchers and students interested in robotics and artificial intelligence. In 2016, we follow the schema of the last year as a joint event with the RoboTour competition in Deggendorf, Germany. Thanks to the great collaboration with Gerald Kupris and Wolfgang Donner from Technische Hochschule Deggendorf and support from Czech Technical University under project No. SVK 26/16/F3 and Bayerisches Staatsministerium der Finanzen, für Landesentwicklung und Heimat, we have been able to provide accommodations and travel support to participants and an invited speaker. Fourteen papers have accepted and listed in the conference program. The papers have been authored by students from Central Europe

  6. A Hybrid 3D Path Planning Method for UAVs

    DEFF Research Database (Denmark)

    Ortiz-Arroyo, Daniel

    2015-01-01

    This paper presents a hybrid method for path planning in 3D spaces. We propose an improvement to a near-optimal 2D off-line algorithm and a flexible normalized on-line fuzzy controller to find shortest paths. Our method, targeted to low altitude domains, is simple and efficient. Our preliminary resu...

  7. Active Path Planning for Drones in Object Search

    OpenAIRE

    Wang, Zeyangyi

    2017-01-01

    Object searching is one of the most popular applications of unmanned aerial vehicles. Low cost small drones are particularly suited for surveying tasks in difficult conditions. With their limited on-board processing power and battery life, there is a need for more efficient search algorithm. The proposed path planning algorithm utilizes AZ-net, a deep learning network to process images captured on drones for adaptive flight path planning. Search simulation based on videos and actual experimen...

  8. Planning Robotic Manipulation Strategies for Sliding Objects

    Science.gov (United States)

    Peshkin, Michael A.

    Automated planning of grasping or manipulation requires an understanding of both the physics and the geometry of manipulation, and a representation of that knowledge which facilitates the search for successful strategies. We consider manipulation on a level conveyor belt or tabletop, on which a part may slide when touched by a robot. Manipulation plans for a given part must succeed in the face of two types of uncertainty: that of the details of surfaces in contact, and that of the initial configuration of the part. In general the points of contact between the part and the surface it slides on will be unknown, so the motion of the part in response to a push cannot be predicted exactly. Using a simple variational principle (which is derived), we find the set of possible motions of a part for a given push, for all collections of points of contact. The answer emerges as a locus of centers of rotation (CORs). Manipulation plans made using this locus will succeed despite unknown details of contact. Results of experimental tests of the COR loci are presented. Uncertainty in the initial configuration of a part is usually also present. To plan in the presence of uncertainty, configuration maps are defined, which map all configurations of a part before an elementary operation to all possible outcomes, thus encapsulating the physics and geometry of the operation. The configuration map for an operation sequence is a product of configuration maps of elementary operations. Using COR loci we compute configuration maps for elementary sliding operations. Appropriate search techniques are applied to find operation sequences which succeed in the presence of uncertainty in the initial configuration and unknown details of contact. Such operation sequences may be used as parts feeder designs or as manipulation or grasping strategies for robots. As an example we demonstrate the automated design of a class of passive parts feeders consisting of multiple sequential fences across a conveyor

  9. The Unplanned Paths of Planning Schools.

    Science.gov (United States)

    Alonso, William

    1986-01-01

    Describes the evolving emphasis of schools of urban planning from concentration on scientific management, beautifying cities, and educating the public in the 1920s to solving the social problems in the 1960s. Calls for a collaboration of business and other professional schools to redefine the function and purpose of urban planning schools to…

  10. Artificial Potential Field Approach to Path Tracking for a Non-Holonomic Mobile Robot

    DEFF Research Database (Denmark)

    Sørensen, M.J.

    2003-01-01

    This paper introduces a novel path tracking controller for an over-actuated robotic vehicle moving in an agricultural field. The vehicle itself is a four wheel steered, four wheel driven vehicle subject to the two non-holonomic constraints of free rolling and non-slipping wheels. A dynamic model...

  11. Faster-than-real-time robot simulation for plan development and robot safety

    International Nuclear Information System (INIS)

    Crane, C.D. III; Dalton, R.; Ogles, J.; Tulenko, J.S.; Zhou, X.

    1990-01-01

    The University of Florida, in cooperation with the Universities of Texas, Tennessee, and Michigan and Oak Ridge National Laboratory (ORNL), is developing an advanced robotic system for the US Department of Energy under the University Program for Robotics for Advanced Reactors. As part of this program, the University of Florida has been pursuing the development of a faster-than-real-time robotic simulation program for planning and control of mobile robotic operations to ensure the efficient and safe operation of mobile robots in nuclear power plants and other hazardous environments

  12. Environmental restoration and waste management: Robotics technology development program: Robotics 5-year program plan

    International Nuclear Information System (INIS)

    1991-01-01

    This plan covers robotics Research, Development, Demonstration, Testing and Evaluation activities in the Program for the next five years. These activities range from bench-scale R ampersand D to full-scale hot demonstrations at DOE sites. This plan outlines applications of existing technology to near-term needs, the development and application of enhanced technology for longer-term needs, and initiation of advanced technology development to meet those needs beyond the five-year plan. The objective of the Robotic Technology Development Program (RTDP) is to develop and apply robotics technologies that will enable Environmental Restoration and Waste Management (ER ampersand WM) operations at DOE sites to be safer, faster and cheaper. Five priority DOE sites were visited in March 1990 to identify needs for robotics technology in ER ampersand WM operations. This 5-Year Program Plan for the RTDP detailed annual plans for robotics technology development based on identified needs. In July 1990 a forum was held announcing the robotics program. Over 60 organizations (industrial, university, and federal laboratory) made presentations on their robotics capabilities. To stimulate early interactions with the ER ampersand WM activities at DOE sites, as well as with the robotics community, the RTDP sponsored four technology demonstrations related to ER ampersand WM needs. These demonstrations integrated commercial technology with robotics technology developed by DOE in support of areas such as nuclear reactor maintenance and the civilian reactor waste program. 2 figs

  13. Robust Path Planning for Space Exploration Rovers

    Data.gov (United States)

    National Aeronautics and Space Administration — Motion planning considers the problem of moving a system from a starting position to a desired goal position. This problem has been shown to be a computationally...

  14. Trajectory Planning for Robots in Dynamic Human Environments

    DEFF Research Database (Denmark)

    Svenstrup, Mikael; Bak, Thomas; Andersen, Hans Jørgen

    2010-01-01

    This paper present a trajectory planning algorithm for a robot operating in dynamic human environments. Environments such as pedestrian streets, hospital corridors and train stations. We formulate the problem as planning a minimal cost trajectory through a potential field, defined from...... is enhanced to direct the search and account for the kinodynamic robot constraints. Compared to standard RRT, the algorithm proposed here find the robot control input that will drive the robot towards a new sampled point in the configuration space. The effect of the input is simulated, to add a reachable...

  15. Manipulator motion planning for high-speed robotic laser cutting

    OpenAIRE

    Dolgui , Alexandre; Pashkevich , Anatol

    2009-01-01

    Abstract Recent advances in laser technology, and especially the essential increase of the cutting speed, motivate amending the existing robot path methods, which do not allow the complete utilisation of the actuator capabilities as well as neglect some particularities in the mechanical design of the wrist of the manipulator arm. This research addresses the optimisation of the 6-axes robot motions for continuous contour tracking while considering the redundancy caused by the tool a...

  16. Repetitive motion planning and control of redundant robot manipulators

    CERN Document Server

    Zhang, Yunong

    2013-01-01

    Repetitive Motion Planning and Control of Redundant Robot Manipulators presents four typical motion planning schemes based on optimization techniques, including the fundamental RMP scheme and its extensions. These schemes are unified as quadratic programs (QPs), which are solved by neural networks or numerical algorithms. The RMP schemes are demonstrated effectively by the simulation results based on various robotic models; the experiments applying the fundamental RMP scheme to a physical robot manipulator are also presented. As the schemes and the corresponding solvers presented in the book have solved the non-repetitive motion problems existing in redundant robot manipulators, it is of particular use in applying theoretical research based on the quadratic program for redundant robot manipulators in industrial situations. This book will be a valuable reference work for engineers, researchers, advanced undergraduate and graduate students in robotics fields. Yunong Zhang is a professor at The School of Informa...

  17. Multi-Robot Motion Planning: A Timed Automata Approach

    OpenAIRE

    Quottrup, Michael Melholt; Bak, Thomas; Izadi-Zamanabadi, Roozbeh

    2004-01-01

    This paper describes how a network of interacting timed automata can be used to model, analyze, and verify motion planning problems in a scenario with multiple robotic vehicles. The method presupposes an infra-structure of robots with feed-back controllers obeying simple restriction on a planar grid. The automata formalism merely presents a high-level model of environment, robots and control, but allows composition and formal symbolic reasoning about coordinated solutions. Composition is achi...

  18. TP-Space RRT – Kinematic Path Planning of Non-Holonomic Any-Shape Vehicles

    Directory of Open Access Journals (Sweden)

    Jose Luis Blanco

    2015-05-01

    Full Text Available The autonomous navigation of vehicles typically combines two kinds of methods: a path is first planned, and then the robot is driven by a local obstacle-avoidance controller. The present work, which focuses on path planning, proposes an extension to the well-known rapidly-exploring random tree (RRT algorithm to allow its integration with a trajectory parameter-space (TP-space as an efficient method to detect collision-free, kinematically-feasible paths for arbitrarily-shaped vehicles. In contrast to original RRT, this proposal generates navigation trees, with poses as nodes, whose edges are all kinematically-feasible paths, suitable to being accurately followed by vehicles driven by pure reactive algorithms. Initial experiments demonstrate the suitability of the method with an Ackermann-steering vehicle model whose severe kinematic constraints cannot be obviated. An important result that sets this work apart from previous research is the finding that employing several families of potential trajectories to expand the tree, which can be done efficiently under the TP-space formalism, improves the optimality of the planned trajectories. A reference C++ implementation has been released as open-source.

  19. Aircraft path planning for optimal imaging using dynamic cost functions

    Science.gov (United States)

    Christie, Gordon; Chaudhry, Haseeb; Kochersberger, Kevin

    2015-05-01

    Unmanned aircraft development has accelerated with recent technological improvements in sensing and communications, which has resulted in an "applications lag" for how these aircraft can best be utilized. The aircraft are becoming smaller, more maneuverable and have longer endurance to perform sensing and sampling missions, but operating them aggressively to exploit these capabilities has not been a primary focus in unmanned systems development. This paper addresses a means of aerial vehicle path planning to provide a realistic optimal path in acquiring imagery for structure from motion (SfM) reconstructions and performing radiation surveys. This method will allow SfM reconstructions to occur accurately and with minimal flight time so that the reconstructions can be executed efficiently. An assumption is made that we have 3D point cloud data available prior to the flight. A discrete set of scan lines are proposed for the given area that are scored based on visibility of the scene. Our approach finds a time-efficient path and calculates trajectories between scan lines and over obstacles encountered along those scan lines. Aircraft dynamics are incorporated into the path planning algorithm as dynamic cost functions to create optimal imaging paths in minimum time. Simulations of the path planning algorithm are shown for an urban environment. We also present our approach for image-based terrain mapping, which is able to efficiently perform a 3D reconstruction of a large area without the use of GPS data.

  20. Environmental restoration and waste management: Robotics technology development program: Robotics 5-year program plan

    International Nuclear Information System (INIS)

    1991-01-01

    This plan covers robotics Research, Development, Demonstration, Testing, activities in the Program for the next five years. These activities range from bench-scale R ampersand D to fullscale hot demonstrations at DOE sites. This plan outlines applications of existing technology to near-term needs, the development and application of enhanced technology for longer-term needs, and an initiation of advanced technology development to meet those needs beyond the five-year plan. The objective of the Robotic Technology Development (RTDP) is to develop and apply robotics technologies that will enable Environmental Restoration and Waste Management operations at DOE sites to be safer, faster and cheaper. Five priority DOE sites were visited in March 1990 to identify needs for robotics technology in ER ampersand WM operations. This 5-Year Program Plan for the RTDP detailed annual plans for robotics technology development based on identified needs. This 5-Year Program Plan discusses the overall approach to be adopted by the RTDP to aggressively develop robotics technology and contains discussions of the Program Management Plan, Site Visit and Needs Summary, Approach to Needs-Directed Technical Development, Application-Specific Technical Development, and Cross-Cutting and Advanced Technology. Integrating application-specific ER ampersand WM needs, the current state of robotics technology, and the potential benefits (in terms of faster, safer, and cheaper) of new technology, the Plan develops application-specific road maps for robotics RDDT ampersand E for the period FY 1991 through FY 1995. In addition, the Plan identifies areas where longer-term research in robotics will have a high payoff in the 5- to 20-year time frame. 12 figs

  1. Path Planning Algorithms for Autonomous Border Patrol Vehicles

    Science.gov (United States)

    Lau, George Tin Lam

    This thesis presents an online path planning algorithm developed for unmanned vehicles in charge of autonomous border patrol. In this Pursuit-Evasion game, the unmanned vehicle is required to capture multiple trespassers on its own before any of them reach a target safe house where they are safe from capture. The problem formulation is based on Isaacs' Target Guarding problem, but extended to the case of multiple evaders. The proposed path planning method is based on Rapidly-exploring random trees (RRT) and is capable of producing trajectories within several seconds to capture 2 or 3 evaders. Simulations are carried out to demonstrate that the resulting trajectories approach the optimal solution produced by a nonlinear programming-based numerical optimal control solver. Experiments are also conducted on unmanned ground vehicles to show the feasibility of implementing the proposed online path planning algorithm on physical applications.

  2. Global and Local Path Planning Study in a ROS-Based Research Platform for Autonomous Vehicles

    Directory of Open Access Journals (Sweden)

    Pablo Marin-Plaza

    2018-01-01

    Full Text Available The aim of this work is to integrate and analyze the performance of a path planning method based on Time Elastic Bands (TEB in real research platform based on Ackermann model. Moreover, it will be proved that all modules related to the navigation can coexist and work together to achieve the goal point without any collision. The study is done by analyzing the trajectory generated from global and local planners. The software prototyping tool is Robot Operating System (ROS from Open Source Robotics Foundation and the research platform is the iCab (Intelligent Campus Automobile from University Carlos III. This work has been validated from a test inside the campus where the iCab has performed the navigation between the starting point and the goal point without any collision. During the experiment, we proved the low sensitivity of the TEB method to variations of the vehicle model configuration and constraints.

  3. Integrating Robot Task Planning into Off-Line Programming Systems

    DEFF Research Database (Denmark)

    Sun, Hongyan; Kroszynski, Uri

    1988-01-01

    a system architecture for integrated robot task planning. It identifies and describes the components considered necessary for implementation. The focus is on functionality of these elements as well as on the information flow. A pilot implementation of such an integrated system architecture for a robot......The addition of robot task planning in off-line programming systems aims at improving the capability of current state-of-the-art commercially available off-line programming systems, by integrating modeling, task planning, programming and simulation together under one platform. This article proposes...... assembly task is discussed....

  4. A bat algorithm with mutation for UCAV path planning.

    Science.gov (United States)

    Wang, Gaige; Guo, Lihong; Duan, Hong; Liu, Luo; Wang, Heqi

    2012-01-01

    Path planning for uninhabited combat air vehicle (UCAV) is a complicated high dimension optimization problem, which mainly centralizes on optimizing the flight route considering the different kinds of constrains under complicated battle field environments. Original bat algorithm (BA) is used to solve the UCAV path planning problem. Furthermore, a new bat algorithm with mutation (BAM) is proposed to solve the UCAV path planning problem, and a modification is applied to mutate between bats during the process of the new solutions updating. Then, the UCAV can find the safe path by connecting the chosen nodes of the coordinates while avoiding the threat areas and costing minimum fuel. This new approach can accelerate the global convergence speed while preserving the strong robustness of the basic BA. The realization procedure for original BA and this improved metaheuristic approach BAM is also presented. To prove the performance of this proposed metaheuristic method, BAM is compared with BA and other population-based optimization methods, such as ACO, BBO, DE, ES, GA, PBIL, PSO, and SGA. The experiment shows that the proposed approach is more effective and feasible in UCAV path planning than the other models.

  5. Robot vision for nuclear advanced robot

    International Nuclear Information System (INIS)

    Nakayama, Ryoichi; Okano, Hideharu; Kuno, Yoshinori; Miyazawa, Tatsuo; Shimada, Hideo; Okada, Satoshi; Kawamura, Astuo

    1991-01-01

    This paper describes Robot Vision and Operation System for Nuclear Advanced Robot. This Robot Vision consists of robot position detection, obstacle detection and object recognition. With these vision techniques, a mobile robot can make a path and move autonomously along the planned path. The authors implemented the above robot vision system on the 'Advanced Robot for Nuclear Power Plant' and tested in an environment mocked up as nuclear power plant facilities. Since the operation system for this robot consists of operator's console and a large stereo monitor, this system can be easily operated by one person. Experimental tests were made using the Advanced Robot (nuclear robot). Results indicate that the proposed operation system is very useful, and can be operate by only person. (author)

  6. Optimized path planning for soft tissue resection via laser vaporization

    Science.gov (United States)

    Ross, Weston; Cornwell, Neil; Tucker, Matthew; Mann, Brian; Codd, Patrick

    2018-02-01

    Robotic and robotic-assisted surgeries are becoming more prevalent with the promise of improving surgical outcomes through increased precision, reduced operating times, and minimally invasive procedures. The handheld laser scalpel in neurosurgery has been shown to provide a more gentle approach to tissue manipulation on or near critical structures over classical tooling, though difficulties of control have prevented large scale adoption of the tool. This paper presents a novel approach to generating a cutting path for the volumetric resection of tissue using a computer-guided laser scalpel. A soft tissue ablation simulator is developed and used in conjunction with an optimization routine to select parameters which maximize the total resection of target tissue while minimizing the damage to surrounding tissue. The simulator predicts the ablative properties of tissue from an interrogation cut for tuning and simulates the removal of a tumorous tissue embedded on the surface of healthy tissue using a laser scalpel. We demonstrate the ability to control depth and smoothness of cut using genetic algorithms to optimize the ablation parameters and cutting path. The laser power level, cutting rate and spacing between cuts are optimized over multiple surface cuts to achieve the desired resection volumes.

  7. Analyzing the Effects of Human-Aware Motion Planning on Close-Proximity Human–Robot Collaboration

    Science.gov (United States)

    Shah, Julie A.

    2015-01-01

    Objective: The objective of this work was to examine human response to motion-level robot adaptation to determine its effect on team fluency, human satisfaction, and perceived safety and comfort. Background: The evaluation of human response to adaptive robotic assistants has been limited, particularly in the realm of motion-level adaptation. The lack of true human-in-the-loop evaluation has made it impossible to determine whether such adaptation would lead to efficient and satisfying human–robot interaction. Method: We conducted an experiment in which participants worked with a robot to perform a collaborative task. Participants worked with an adaptive robot incorporating human-aware motion planning and with a baseline robot using shortest-path motions. Team fluency was evaluated through a set of quantitative metrics, and human satisfaction and perceived safety and comfort were evaluated through questionnaires. Results: When working with the adaptive robot, participants completed the task 5.57% faster, with 19.9% more concurrent motion, 2.96% less human idle time, 17.3% less robot idle time, and a 15.1% greater separation distance. Questionnaire responses indicated that participants felt safer and more comfortable when working with an adaptive robot and were more satisfied with it as a teammate than with the standard robot. Conclusion: People respond well to motion-level robot adaptation, and significant benefits can be achieved from its use in terms of both human–robot team fluency and human worker satisfaction. Application: Our conclusion supports the development of technologies that could be used to implement human-aware motion planning in collaborative robots and the use of this technique for close-proximity human–robot collaboration. PMID:25790568

  8. Analyzing the effects of human-aware motion planning on close-proximity human-robot collaboration.

    Science.gov (United States)

    Lasota, Przemyslaw A; Shah, Julie A

    2015-02-01

    The objective of this work was to examine human response to motion-level robot adaptation to determine its effect on team fluency, human satisfaction, and perceived safety and comfort. The evaluation of human response to adaptive robotic assistants has been limited, particularly in the realm of motion-level adaptation. The lack of true human-in-the-loop evaluation has made it impossible to determine whether such adaptation would lead to efficient and satisfying human-robot interaction. We conducted an experiment in which participants worked with a robot to perform a collaborative task. Participants worked with an adaptive robot incorporating human-aware motion planning and with a baseline robot using shortest-path motions. Team fluency was evaluated through a set of quantitative metrics, and human satisfaction and perceived safety and comfort were evaluated through questionnaires. When working with the adaptive robot, participants completed the task 5.57% faster, with 19.9% more concurrent motion, 2.96% less human idle time, 17.3% less robot idle time, and a 15.1% greater separation distance. Questionnaire responses indicated that participants felt safer and more comfortable when working with an adaptive robot and were more satisfied with it as a teammate than with the standard robot. People respond well to motion-level robot adaptation, and significant benefits can be achieved from its use in terms of both human-robot team fluency and human worker satisfaction. Our conclusion supports the development of technologies that could be used to implement human-aware motion planning in collaborative robots and the use of this technique for close-proximity human-robot collaboration.

  9. Safe Maritime Autonomous Path Planning in a High Sea State

    Science.gov (United States)

    Ono, Masahiro; Quadrelli, Marco; Huntsberger, Terrance L.

    2014-01-01

    This paper presents a path planning method for sea surface vehicles that prevents capsizing and bow-diving in a high sea-state. A key idea is to use response amplitude operators (RAOs) or, in control terminology, the transfer functions from a sea state to a vessel's motion, in order to find a set of speeds and headings that results in excessive pitch and roll oscillations. This information is translated to arithmetic constraints on the ship's velocity, which are passed to a model predictive control (MPC)-based path planner to find a safe and optimal path that achieves specified goals. An obstacle avoidance capability is also added to the path planner. The proposed method is demonstrated by simulations.

  10. A Reactive Robot Architecture With Planning on Demand

    National Research Council Canada - National Science Library

    Ranganathan, Ananth; Koenig, Sven

    2003-01-01

    In this paper, we describe a reactive robot architecture that uses fast re-planning methods to avoid the shortcomings of reactive navigation, such as getting stuck in box canyons or in front of small openings...

  11. Aircraft path planning with the use of smooth trajectories

    Science.gov (United States)

    Belokon', S. A.; Zolotukhin, Yu. N.; Nesterov, A. A.

    2017-01-01

    A simplified method of plane trajectory calculation is proposed for solving the problem of planning a path defined by a sequence of waypoints. The trajectory consists of oriented segments of straight lines joined by clothoids (Cornu spirals). The efficiency of the method is validated by means of numerical simulations in the MATLAB/Simulink environment.

  12. Robust Path Planning and Feedback Design Under Stochastic Uncertainty

    Science.gov (United States)

    Blackmore, Lars

    2008-01-01

    Autonomous vehicles require optimal path planning algorithms to achieve mission goals while avoiding obstacles and being robust to uncertainties. The uncertainties arise from exogenous disturbances, modeling errors, and sensor noise, which can be characterized via stochastic models. Previous work defined a notion of robustness in a stochastic setting by using the concept of chance constraints. This requires that mission constraint violation can occur with a probability less than a prescribed value.In this paper we describe a novel method for optimal chance constrained path planning with feedback design. The approach optimizes both the reference trajectory to be followed and the feedback controller used to reject uncertainty. Our method extends recent results in constrained control synthesis based on convex optimization to solve control problems with nonconvex constraints. This extension is essential for path planning problems, which inherently have nonconvex obstacle avoidance constraints. Unlike previous approaches to chance constrained path planning, the new approach optimizes the feedback gain as wellas the reference trajectory.The key idea is to couple a fast, nonconvex solver that does not take into account uncertainty, with existing robust approaches that apply only to convex feasible regions. By alternating between robust and nonrobust solutions, the new algorithm guarantees convergence to a global optimum. We apply the new method to an unmanned aircraft and show simulation results that demonstrate the efficacy of the approach.

  13. Lazy motion planning for robotic manipulators

    NARCIS (Netherlands)

    Andrien, A.R.P.; van de Molengraft, M.J.G.; Bruyninckx, H.P.J.

    2017-01-01

    Robotic manipulators are making a shift towards mobile bases in both industry and domestic environments, which puts high demands on efficient use of the robot’s limited energy resources. In this work, the problem of reducing energy usage of a robot manipulator during a task is investigated. We

  14. Motion and operation planning of robotic systems background and practical approaches

    CERN Document Server

    Gomez-Barvo, Fernando

    2015-01-01

    This book addresses the broad multi-disciplinary topic of robotics, and presents the basic techniques for motion and operation planning in robotics systems. Gathering contributions from experts in diverse and wide ranging fields, it offers an overview of the most recent and cutting-edge practical applications of these methodologies. It covers both theoretical and practical approaches, and elucidates the transition from theory to implementation. An extensive analysis is provided, including humanoids, manipulators, aerial robots and ground mobile robots. ‘Motion and Operation Planning of Robotic Systems’ addresses the following topics: *The theoretical background of robotics. *Application of motion planning techniques to manipulators, such as serial and parallel manipulators. *Mobile robots planning, including robotic applications related to aerial robots, large scale robots and traditional wheeled robots. *Motion planning for humanoid robots. An invaluable reference text for graduate students and researche...

  15. Image-based path planning for automated virtual colonoscopy navigation

    Science.gov (United States)

    Hong, Wei

    2008-03-01

    Virtual colonoscopy (VC) is a noninvasive method for colonic polyp screening, by reconstructing three-dimensional models of the colon using computerized tomography (CT). In virtual colonoscopy fly-through navigation, it is crucial to generate an optimal camera path for efficient clinical examination. In conventional methods, the centerline of the colon lumen is usually used as the camera path. In order to extract colon centerline, some time consuming pre-processing algorithms must be performed before the fly-through navigation, such as colon segmentation, distance transformation, or topological thinning. In this paper, we present an efficient image-based path planning algorithm for automated virtual colonoscopy fly-through navigation without the requirement of any pre-processing. Our algorithm only needs the physician to provide a seed point as the starting camera position using 2D axial CT images. A wide angle fisheye camera model is used to generate a depth image from the current camera position. Two types of navigational landmarks, safe regions and target regions are extracted from the depth images. Camera position and its corresponding view direction are then determined using these landmarks. The experimental results show that the generated paths are accurate and increase the user comfort during the fly-through navigation. Moreover, because of the efficiency of our path planning algorithm and rendering algorithm, our VC fly-through navigation system can still guarantee 30 FPS.

  16. An optimized field coverage planning approach for navigation of agricultural robots in fields involving obstacle areas

    DEFF Research Database (Denmark)

    Hameed, Ibahim; Bochtis, D.; Sørensen, C.A.

    2013-01-01

    -field obstacle areas, the headland paths generation for the field and each obstacle area, the implementation of a genetic algorithm to optimize the sequence that the field robot vehicle will follow to visit the blocks, and an algorithmically generation of the task sequences derived from the farmer practices......Technological advances combined with the demand of cost efficiency and environmental considerations lead farmers to review their practices towards the adoption of new managerial approaches including enhanced automation. The application of field robots is one of the most promising advances among....... This approach has proven that it is possible to capture the practices of farmers and embed these practices in an algorithmic description providing a complete field area coverage plan in a form prepared for execution by the navigation system of a field robot....

  17. Sampling Based Trajectory Planning for Robots in Dynamic Human Environments

    DEFF Research Database (Denmark)

    Svenstrup, Mikael

    2010-01-01

    Open-ended human environments, such as pedestrian streets, hospital corridors, train stations etc., are places where robots start to emerge. Hence, being able to plan safe and natural trajectories in these dynamic environments is an important skill for future generations of robots. In this work...... the problem is formulated as planning a minimal cost trajectory through a potential field, defined from the perceived position and motion of persons in the environment. A modified Rapidlyexploring Random Tree (RRT) algorithm is proposed as a solution to the planning problem. The algorithm implements a new...... for the uncertainty in the dynamic environment. The planning algorithm is demonstrated in a simulated pedestrian street environment....

  18. IMPERA: Integrated Mission Planning for Multi-Robot Systems

    Directory of Open Access Journals (Sweden)

    Daniel Saur

    2015-10-01

    Full Text Available This paper presents the results of the project IMPERA (Integrated Mission Planning for Distributed Robot Systems. The goal of IMPERA was to realize an extraterrestrial exploration scenario using a heterogeneous multi-robot system. The main challenge was the development of a multi-robot planning and plan execution architecture. The robot team consists of three heterogeneous robots, which have to explore an unknown environment and collect lunar drill samples. The team activities are described using the language ALICA (A Language for Interactive Agents. Furthermore, we use the mission planning system pRoPhEt MAS (Reactive Planning Engine for Multi-Agent Systems to provide an intuitive interface to generate team activities. Therefore, we define the basic skills of our team with ALICA and define the desired goal states by using a logic description. Based on the skills, pRoPhEt MAS creates a valid ALICA plan, which will be executed by the team. The paper describes the basic components for communication, coordinated exploration, perception and object transportation. Finally, we evaluate the planning engine pRoPhEt MAS in the IMPERA scenario. In addition, we present further evaluation of pRoPhEt MAS in more dynamic environments.

  19. Path Planning Algorithms for the Adaptive Sensor Fleet

    Science.gov (United States)

    Stoneking, Eric; Hosler, Jeff

    2005-01-01

    The Adaptive Sensor Fleet (ASF) is a general purpose fleet management and planning system being developed by NASA in coordination with NOAA. The current mission of ASF is to provide the capability for autonomous cooperative survey and sampling of dynamic oceanographic phenomena such as current systems and algae blooms. Each ASF vessel is a software model that represents a real world platform that carries a variety of sensors. The OASIS platform will provide the first physical vessel, outfitted with the systems and payloads necessary to execute the oceanographic observations described in this paper. The ASF architecture is being designed for extensibility to accommodate heterogenous fleet elements, and is not limited to using the OASIS platform to acquire data. This paper describes the path planning algorithms developed for the acquisition phase of a typical ASF task. Given a polygonal target region to be surveyed, the region is subdivided according to the number of vessels in the fleet. The subdivision algorithm seeks a solution in which all subregions have equal area and minimum mean radius. Once the subregions are defined, a dynamic programming method is used to find a minimum-time path for each vessel from its initial position to its assigned region. This path plan includes the effects of water currents as well as avoidance of known obstacles. A fleet-level planning algorithm then shuffles the individual vessel assignments to find the overall solution which puts all vessels in their assigned regions in the minimum time. This shuffle algorithm may be described as a process of elimination on the sorted list of permutations of a cost matrix. All these path planning algorithms are facilitated by discretizing the region of interest onto a hexagonal tiling.

  20. Temporal logic motion planning in robotics

    CSIR Research Space (South Africa)

    Seotsanyana, M

    2012-08-01

    Full Text Available ) transport-related applications such as intra-logistics, automated parking garages and autonomous vehicles: (ii) mining-related applications such as automated mine vehicles and mine sensing; (iii) defence force-related applications such as autonomous... vehicles and (iv) hospital-related applications such as surgical procedures. In such applications, any failure of a robotic system may result in more than just a mere inconvenience, such as incorrect information by a robotic receptionist, loss of time...

  1. The Planning of Straight Line Trajectory in Robotics Using Interactive Graphics

    Directory of Open Access Journals (Sweden)

    Kesheng Wang

    1987-07-01

    Full Text Available The planning of straight line trajectory using the interactive computer graphics simulation of robot manipulator movement is discussed. This new approach to straight line motion planning improves the 'bound deviation joint paths' developed by R. M. Taylor (1979. The new approach has three characteristics: (1 linear interpolation in joint space; (2 unequal intervals for interpolating knot points; (3 using interactive computer graphics to assure that the maximum deviation in the whole segment is less than the pre-specified values. The structure and mathematical basis of a computer program developed for this purpose are presented.

  2. Multi-Robot Motion Planning: A Timed Automata Approach

    DEFF Research Database (Denmark)

    Quottrup, Michael Melholt; Bak, Thomas; Izadi-Zamanabadi, Roozbeh

    2004-01-01

    This paper describes how a network of interacting timed automata can be used to model, analyze, and verify motion planning problems in a scenario with multiple robotic vehicles. The method presupposes an infra-structure of robots with feed-back controllers obeying simple restriction on a planar...... grid. The automata formalism merely presents a high-level model of environment, robots and control, but allows composition and formal symbolic reasoning about coordinated solutions. Composition is achieved through synchronization, and the verification software UPPAAL is used for a symbolic verification...... then subsequently be used as a high-level motion plan for the robots. This paper reports on the timed automata framework, results of two verification experiments, promise of the approach, and gives a perspective for future research....

  3. Multi-Robot Motion Planning: A Timed Automata Approach

    DEFF Research Database (Denmark)

    Quottrup, Michael Melholt; Bak, Thomas; Izadi-Zamanabadi, Roozbeh

    This paper describes how a network of interacting timed automata can be used to model, analyze, and verify motion planning problems in a scenario with multiple robotic vehicles. The method presupposes an infra-structure of robots with feed-back controllers obeying simple restriction on a planar...... grid. The automata formalism merely presents a high-level model of environment, robots and control, but allows composition and formal symbolic reasoning about coordinated solutions. Composition is achieved through synchronization, and the verification software UPPAAL is used for a symbolic verification...... then subsequently be used as a high-level motion plan for the robots. This paper reports on the timed automata framework, results of two verification experiments, promise of the approach, and gives a perspective for future research....

  4. A design of toxic gas detecting security robot car based on wireless path-patrol

    Directory of Open Access Journals (Sweden)

    Cheng Ho-Chih

    2017-01-01

    Full Text Available Because a toxic gas detecting/monitoring system in a chemical plant is not movable, a gas detecting/monitoring system will be passive and the detecting range will also be constrained. This invention is an active multi-functional wireless patrol car that can substitute for humans that inspect a plant's security. In addition, to widen the monitoring vision within the environment, two motors used to rotate a wireless IPCAM with two axes are presented. Also, to control the robot car's movement, two axis motors used to drive the wheel of the robot car are also installed. Additionally, a toxic gas detector is linked to the microcontroller of the patrol car. The detected concentration of the gas will be fed back to the server pc. To enhance the robot car's patrolling duration, a movable electrical power unit in conjunction with a wireless module is also used. Consequently, this paper introduces a wireless path-patrol and toxic gas detecting security robot car that can assure a plant's security and protect workers when toxic gases are emitted.

  5. Trajectory planning and optimal tracking for an industrial mobile robot

    Science.gov (United States)

    Hu, Huosheng; Brady, J. Michael; Probert, Penelope J.

    1994-02-01

    This paper introduces a unified approach to trajectory planning and tracking for an industrial mobile robot subject to non-holonomic constraints. We show (1) how a smooth trajectory is generated that takes into account the constraints from the dynamic environment and the robot kinematics; and (2) how a general predictive controller works to provide optimal tracking capability for nonlinear systems. The tracking performance of the proposed guidance system is analyzed by simulation.

  6. Globally Optimal Path Planning with Anisotropic Running Costs

    Science.gov (United States)

    2013-03-01

    Eikonal equation and has numerous applications, for exam- ple, in path planning, computational geometry, computer vision, and image enhancement...Sethian 1999b]. Numerical methods for solving the Eikonal equation include Tsitsiklis’ control-theoretic algorithm [Tsitsiklis 1995], Fast Marching Methods...methods for Eikonal equations on triangular meshes, SIAM J. Numer. Anal. 45(1), 83—107. Rowe, M. P., Sidhu, H. S. & Mercer, G. N. (2009) Military

  7. Automatic Operation For A Robot Lawn Mower

    Science.gov (United States)

    Huang, Y. Y.; Cao, Z. L.; Oh, S. J.; Kattan, E. U.; Hall, E. L.

    1987-02-01

    A domestic mobile robot, lawn mower, which performs the automatic operation mode, has been built up in the Center of Robotics Research, University of Cincinnati. The robot lawn mower automatically completes its work with the region filling operation, a new kind of path planning for mobile robots. Some strategies for region filling of path planning have been developed for a partly-known or a unknown environment. Also, an advanced omnidirectional navigation system and a multisensor-based control system are used in the automatic operation. Research on the robot lawn mower, especially on the region filling of path planning, is significant in industrial and agricultural applications.

  8. Shore-based Path Planning for Marine Vehicles Using a Model of Ocean Currents

    Data.gov (United States)

    National Aeronautics and Space Administration — Develop path planning methods that incorporate an approximate model of ocean currents in path planning for a range of autonomous marine vehicles such as surface...

  9. Trajectory Planning of Mobile robot in Unstructured Environment for Multiple Objects

    Directory of Open Access Journals (Sweden)

    Muhammad Arshad

    2012-01-01

    Full Text Available In this paper we have presented a novel technique for the navigation and path formulation of wheeled mobile robot. In a given environment having obstacles, a path is generated from the given initial and final position of the robot. Based on the global knowledge of the environment a global path is formulated initially. This global path considers all the known obstacles in the environment and must avoid collision with these obstacles, i.e. the formulated path must be safe (collision free. For global path formulation strategic schemes have been employed using the a priori knowledge of the environment. The global path is fed to the robot. When unknown obstacles come in the path of the robot, it must deviate from the given global path and should generate a local path to avoid collision with the new unknown obstacle. By using sensors data the reactive schemes have been implemented for local path formulation. For local path formulation the path has been subdivided into intermediate steps known as sub goals. In the existing approaches known and unknown objects are considered separately. But in some of the practical applications known and unknown objects need to be considered simultaneously. This paper considers the problem of robot motion formulation in an environment having already known obstacles and unknown new moving objects. A Novel algorithm has been developed which incorporates local path planner, optimization and navigation modules. As unknown objects can appear in the environment randomly therefore uncertainty in the environment has been considered.

  10. Path planning in uncertain flow fields using ensemble method

    KAUST Repository

    Wang, Tong

    2016-08-20

    An ensemble-based approach is developed to conduct optimal path planning in unsteady ocean currents under uncertainty. We focus our attention on two-dimensional steady and unsteady uncertain flows, and adopt a sampling methodology that is well suited to operational forecasts, where an ensemble of deterministic predictions is used to model and quantify uncertainty. In an operational setting, much about dynamics, topography, and forcing of the ocean environment is uncertain. To address this uncertainty, the flow field is parametrized using a finite number of independent canonical random variables with known densities, and the ensemble is generated by sampling these variables. For each of the resulting realizations of the uncertain current field, we predict the path that minimizes the travel time by solving a boundary value problem (BVP), based on the Pontryagin maximum principle. A family of backward-in-time trajectories starting at the end position is used to generate suitable initial values for the BVP solver. This allows us to examine and analyze the performance of the sampling strategy and to develop insight into extensions dealing with general circulation ocean models. In particular, the ensemble method enables us to perform a statistical analysis of travel times and consequently develop a path planning approach that accounts for these statistics. The proposed methodology is tested for a number of scenarios. We first validate our algorithms by reproducing simple canonical solutions, and then demonstrate our approach in more complex flow fields, including idealized, steady and unsteady double-gyre flows.

  11. Artificial intelligence planning applications for space exploration and space robotics

    Science.gov (United States)

    Rokey, Mark; Grenander, Sven

    1986-01-01

    Mission sequencing involves the plan for actuation of the experiments to be conducted aboard a spacecraft; automation is under study by NASA as a means to reduce time and manpower costs in mission planning and in robotic implementation. The development of a mission sequence is conditioned by the limited duration of advantageous spacecraft encounters with objects of study, more research requests than can be satisfied, and requested changes in objectives. Autonomous robot development is hampered by the absence of task-level programming languages, the existence of anomalies in real-world interactions, and a lack of required capabilities in current sensor technology.

  12. The Motion Path Study of Measuring Robot Based on Variable Universe Fuzzy Control

    Directory of Open Access Journals (Sweden)

    Ma Guoqing

    2017-01-01

    Full Text Available For the problem of measuring robot requires a higher positioning, firstly learning about the error overview of the system, analysised the influence of attitude, speed and other factors on systematic errors. Then collected and analyzed the systematic error curve in the track to complete the planning process. The last adding fuzzy control in both cases, by comparing with the original system, can found that the method based on fuzzy control system can significantly reduce the error during the motion.

  13. MR-based real time path planning for cardiac operations with transapical access.

    Science.gov (United States)

    Yeniaras, Erol; Navkar, Nikhil V; Sonmez, Ahmet E; Shah, Dipan J; Deng, Zhigang; Tsekos, Nikolaos V

    2011-01-01

    Minimally invasive surgeries (MIS) have been perpetually evolving due to their potential high impact on improving patient management and overall cost effectiveness. Currently, MIS are further strengthened by the incorporation of magnetic resonance imaging (MRI) for amended visualization and high precision. Motivated by the fact that real-time MRI is emerging as a feasible modality especially for guiding interventions and surgeries in the beating heart; in this paper we introduce a real-time path planning algorithm for intracardiac procedures. Our approach creates a volumetric safety zone inside a beating heart and updates it on-the-fly using real-time MRI during the deployment of a robotic device. In order to prove the concept and assess the feasibility of the introduced method, a realistic operational scenario of transapical aortic valve replacement in a beating heart is chosen as the virtual case study.

  14. Heuristic methods for shared backup path protection planning

    DEFF Research Database (Denmark)

    Haahr, Jørgen Thorlund; Stidsen, Thomas Riis; Zachariasen, Martin

    2012-01-01

    schemes are employed. In contrast to manual intervention, automatic protection schemes such as Shared Backup Path Protection (SBPP) can recover from failure quickly and efficiently. SBPP is a simple but efficient protection scheme that can be implemented in backbone networks with technology available...... present heuristic algorithms and lower bound methods for the SBPP planning problem. Experimental results show that the heuristic algorithms are able to find good quality solutions in minutes. A solution gap of less than 3.5% was achieved for more than half of the benchmark instances (and a gap of less...

  15. An Improved Path-Generating Regulator for Two-Wheeled Robots to Track the Circle/Arc Passage

    Directory of Open Access Journals (Sweden)

    Jun Dai

    2014-01-01

    Full Text Available The improved path-generating regulator (PGR is proposed to path track the circle/arc passage for two-wheeled robots. The PGR, which is a control method for robots so as to orient its heading toward the tangential direction of one of the curves belonging to the family of path functions, is applied to navigation problem originally. Driving environments for robots are usually roads, streets, paths, passages, and ridges. These tracks can be seen as they consist of straight lines and arcs. In the case of small interval, arc can be regarded as straight line approximately; therefore we extended the PGR to drive the robot move along circle/arc passage based on the theory that PGR to track the straight passage. In addition, the adjustable look-ahead method is proposed to improve the robot trajectory convergence property to the target circle/arc. The effectiveness is proved through MATLAB simulations on both the comparisons with the PGR and the improved PGR with adjustable look-ahead method. The results of numerical simulations show that the adjustable look-ahead method has better convergence property and stronger capacity of resisting disturbance.

  16. Feasibility of four-dimensional conformal planning for robotic radiosurgery

    International Nuclear Information System (INIS)

    Schlaefer, A.; Fisseler, J.; Dieterich, S.; Shiomi, H.; Cleary, K.; Schweikard, A.

    2005-01-01

    Organ motion can have a severe impact on the dose delivered by radiation therapy, and different procedures have been developed to address its effects. Conventional techniques include breath hold methods and gating. A different approach is the compensation for target motion by moving the treatment beams synchronously. Practical results have been reported for robot based radiosurgery, where a linear accelerator mounted on a robotic arm delivers the dose. However, not all organs move in the same way, which results in a relative motion of the beams with respect to the body and the tissues in the proximity of the tumor. This relative motion can severely effect the dose delivered to critical structures. We propose a method to incorporate motion in the treatment planning for robotic radiosurgery to avoid potential overdosing of organs surrounding the target. The method takes into account the motion of all considered volumes, which is discretized for dose calculations. Similarly, the beam motion is taken into account and the aggregated dose coefficient over all discrete steps is used for planning. We simulated the treatment of a moving target with three different planning methods. First, we computed beam weights based on a 3D planning situation and simulated treatment with organ motion and the beams moving synchronously to the target. Second, beam weights were computed by the 4D planning method incorporating the organ and beam motion and treatment was simulated for beams moving synchronously to the target. Third, the beam weights were determined by the 4D planning method with the beams fixed during planning and simulation. For comparison we also give results for the 3D treatment plan if there was no organ motion and when the plan is delivered by fixed beams in the presence of organ motion. The results indicate that the new 4D method is preferable and can further improve the overall conformality of motion compensated robotic radiosurgery

  17. Mission Activity Planning for Humans and Robots on the Moon

    Science.gov (United States)

    Weisbin, C.; Shelton, K.; Lincoln, W.; Elfes, A.; Smith, J.H.; Mrozinski, J.; Hua, H.; Adumitroaie, V.; Silberg, R.

    2008-01-01

    A series of studies is conducted to develop a systematic approach to optimizing, both in terms of the distribution and scheduling of tasks, scenarios in which astronauts and robots accomplish a group of activities on the Moon, given an objective function (OF) and specific resources and constraints. An automated planning tool is developed as a key element of this optimization system.

  18. Trajectory planning of tokamak flexible in-vessel inspection robot

    International Nuclear Information System (INIS)

    Wang, Hesheng; Chen, Weidong; Lai, Yinping; He, Tao

    2015-01-01

    Highlights: • A tokamak flexible in-vessel inspection robot is designed. • Two trajectory planning methods are used to ensure the full coverage of the first wall scanning. • The method is tested on a simulated platform of EAST with the flexible in-vessel inspection robot. • Experimental results show the effectiveness of the proposed algorithm. - Abstract: Tokamak flexible in-vessel inspection robot is mainly designed to carry a camera for close observation of the first wall of the vacuum vessel, which is essential for the maintenance of the future tokamak reactor without breaking the working condition of the vacuum vessel. A tokamak flexible in-vessel inspection robot is designed. In order to improve efficiency of the remote maintenance, it is necessary to design a corresponding trajectory planning algorithm to complete the automatic full coverage scanning of the complex tokamak cavity. Two different trajectory planning methods, RS (rough scanning) and FS (fine scanning), according to different demands of the task, are used to ensure the full coverage of the first wall scanning. To quickly locate the damage position, the first trajectory planning method is targeted for quick and wide-ranging scan of the tokamak D-shaped section, and the second one is for careful observation. Furthermore, both of the two different trajectory planning methods can ensure the full coverage of the first wall scanning with an optimal end posture. The method is tested on a simulated platform of EAST (Experimental Advanced Superconducting Tokamak) with the flexible in-vessel inspection robot, and the results show the effectiveness of the proposed algorithm.

  19. Trajectory planning of tokamak flexible in-vessel inspection robot

    Energy Technology Data Exchange (ETDEWEB)

    Wang, Hesheng [Department of Automation, Shanghai Jiao Tong University, 200240 Shanghai (China); Key Laboratory of System Control and Information Processing, Ministry of Education of China, 200240 Shanghai (China); Chen, Weidong, E-mail: wdchen@sjtu.edu.cn [Department of Automation, Shanghai Jiao Tong University, 200240 Shanghai (China); Key Laboratory of System Control and Information Processing, Ministry of Education of China, 200240 Shanghai (China); Lai, Yinping; He, Tao [Department of Automation, Shanghai Jiao Tong University, 200240 Shanghai (China); Key Laboratory of System Control and Information Processing, Ministry of Education of China, 200240 Shanghai (China)

    2015-10-15

    Highlights: • A tokamak flexible in-vessel inspection robot is designed. • Two trajectory planning methods are used to ensure the full coverage of the first wall scanning. • The method is tested on a simulated platform of EAST with the flexible in-vessel inspection robot. • Experimental results show the effectiveness of the proposed algorithm. - Abstract: Tokamak flexible in-vessel inspection robot is mainly designed to carry a camera for close observation of the first wall of the vacuum vessel, which is essential for the maintenance of the future tokamak reactor without breaking the working condition of the vacuum vessel. A tokamak flexible in-vessel inspection robot is designed. In order to improve efficiency of the remote maintenance, it is necessary to design a corresponding trajectory planning algorithm to complete the automatic full coverage scanning of the complex tokamak cavity. Two different trajectory planning methods, RS (rough scanning) and FS (fine scanning), according to different demands of the task, are used to ensure the full coverage of the first wall scanning. To quickly locate the damage position, the first trajectory planning method is targeted for quick and wide-ranging scan of the tokamak D-shaped section, and the second one is for careful observation. Furthermore, both of the two different trajectory planning methods can ensure the full coverage of the first wall scanning with an optimal end posture. The method is tested on a simulated platform of EAST (Experimental Advanced Superconducting Tokamak) with the flexible in-vessel inspection robot, and the results show the effectiveness of the proposed algorithm.

  20. Visual identification and similarity measures used for on-line motion planning of autonomous robots in unknown environments

    Science.gov (United States)

    Martínez, Fredy; Martínez, Fernando; Jacinto, Edwar

    2017-02-01

    In this paper we propose an on-line motion planning strategy for autonomous robots in dynamic and locally observable environments. In this approach, we first visually identify geometric shapes in the environment by filtering images. Then, an ART-2 network is used to establish the similarity between patterns. The proposed algorithm allows that a robot establish its relative location in the environment, and define its navigation path based on images of the environment and its similarity to reference images. This is an efficient and minimalist method that uses the similarity of landmark view patterns to navigate to the desired destination. Laboratory tests on real prototypes demonstrate the performance of the algorithm.

  1. A study on an autonomous pipeline maintenance robot, 8

    International Nuclear Information System (INIS)

    Fukuda, Toshio; Hosokai, Hidemi; Niitsu, Shunichi; Kaneshige, Masanori; Iwasaki, Shinnosuke.

    1990-01-01

    This paper deals with the path planning and sensing planning expert system with learning functions for the pipeline inspection and maintenance robot, Mark IV. The robot can carry out inspection tasks to autonomously detect malfunctions in a plant pipeline system. Furthermore, the robot becomes more intelligent by adding the following functions: (1) the robot, Mark IV, is capable of inspecting surfaces of storage tanks as well as pipeline outer surfaces; (2) in path planning, the robot has a learning function using information generated in the past such as a moving path, task level and control commands of the robot; (3) in inspecting a pipeline system with plant equipment such as valves, franges, T- and L-joints, the robot is capable of inspecting continuous surfaces in pipeline. Thus, together with the improved path planning expert system (PPES) and the sensing planning expert system (SPES), the Mark IV robot becomes intelligent enough to automatically carry out given inspection tasks. (author)

  2. Trajectory planning of mobile robots using indirect solution of optimal control method in generalized point-to-point task

    Science.gov (United States)

    Nazemizadeh, M.; Rahimi, H. N.; Amini Khoiy, K.

    2012-03-01

    This paper presents an optimal control strategy for optimal trajectory planning of mobile robots by considering nonlinear dynamic model and nonholonomic constraints of the system. The nonholonomic constraints of the system are introduced by a nonintegrable set of differential equations which represent kinematic restriction on the motion. The Lagrange's principle is employed to derive the nonlinear equations of the system. Then, the optimal path planning of the mobile robot is formulated as an optimal control problem. To set up the problem, the nonlinear equations of the system are assumed as constraints, and a minimum energy objective function is defined. To solve the problem, an indirect solution of the optimal control method is employed, and conditions of the optimality derived as a set of coupled nonlinear differential equations. The optimality equations are solved numerically, and various simulations are performed for a nonholonomic mobile robot to illustrate effectiveness of the proposed method.

  3. Locomotion Gait Planning of Climber Snake-Like Robot

    Directory of Open Access Journals (Sweden)

    Mohammad Nezaminia

    2013-04-01

    Full Text Available In this article a novel breed of snake-like climber robots has been introduced. Structure and operation of the first generation of snake-like climber robot "Marak I" has been discussed. The gait planning for two dimensional locomotion of a novel snake-like climber robot "Marak I" is presented. The types of locomotion investigated were rectilinear and wheeling gaits. The gaits of locomotion were experimented and their suitability for various applications has been mentioned. Some encountered practical problems plus solutions were addressed. Finally we found out that: the vertical motion was producing more fault than horizontal locomotion, and notably the fastest gait of locomotion was the wheeling gait

  4. Path planning of master-slave manipulator using graphic simulator

    International Nuclear Information System (INIS)

    Lee, J. Y.; Kim, S. H.; Song, T. K.; Park, B. S.; Yoon, J. S.

    2002-01-01

    To handle the high level radioactive materials such as spent fuels remotely, the master-slave manipulator is generally used as a remote handling equipment in the hot cell. To analyze the motion and to implement the training system by virtual reality technology, the simulator for M-S manipulator using the computer graphics is developed. The parts are modelled in 3-D graphics, assembled, and kinematics are assigned. The inverse kinematics of the manipulator is defined, and the slave of manipulator is coupled with master by the manipulator's specification. Also, the virtual work cell is implemented in the graphical environment which is the same as the real environment and the path planning method using the function of the collision detection for a manipulator are proposed. This graphic simulator of manipulator can be effectively used in designing of the maintenance processes for the hot cell equipment and enhance the reliability of the spent fuel management

  5. Robot Learning from Demonstration: A Task-level Planning Approach

    Directory of Open Access Journals (Sweden)

    Staffan Ekvall

    2008-09-01

    Full Text Available In this paper, we deal with the problem of learning by demonstration, task level learning and planning for robotic applications that involve object manipulation. Preprogramming robots for execution of complex domestic tasks such as setting a dinner table is of little use, since the same order of subtasks may not be conceivable in the run time due to the changed state of the world. In our approach, we aim to learn the goal of the task and use a task planner to reach the goal given different initial states of the world. For some tasks, there are underlying constraints that must be fulfille, and knowing just the final goal is not sufficient. We propose two techniques for constraint identification. In the first case, the teacher can directly instruct the system about the underlying constraints. In the second case, the constraints are identified by the robot itself based on multiple observations. The constraints are then considered in the planning phase, allowing the task to be executed without violating any of them. We evaluate our work on a real robot performing pick-and-place tasks.

  6. Mathematical optimization for planning and design of cycle paths

    Energy Technology Data Exchange (ETDEWEB)

    LiÑan Ruiz, R.J.; Perez Aracil, J.; Cabrera Cañizares, V.

    2016-07-01

    The daily need for citizens to move for different activities, whatever its nature, has been greatly affected by the changes. The advantages resulting from the inclusion of the bicycle as a mode of transport and the proliferation of its use among citizens are numerous and extend both in the field of urban mobility and sustainable development.Currently, there are a number of programs for the implementation, promotion or increased public participation related to cycling in cities. But ultimately, each and every one of these initiatives have the same goal, to create a mesh of effective, useful and cycling trails that allow the use of bicycles in preferred routes with high guarantees of security, incorporating bicycle model intermodal urban transport.With the gradual implementation of bike lanes, many people have begun to use them to get around the city. But everything again needs a period of adaptation, and the reality is that the road network for these vehicles is full of obstacles to the rider. The current situation has led to the proposal that many kilometers of cycle paths needed to supply the demand of this mode of transport and, if implemented and planned are correct and sufficient.This paper presents a mathematical programming model for optimal design of a network for cyclists is presented. Specifically, the model determines a network of bicycle infrastructure, appropriate to the characteristics of a network of existing roads.As an application of the proposed model, the result of these experiments give a number of useful conclusions for planning and designing networks of cycle paths from a social perspective, applied to the case in the city of Malaga. (Author)

  7. Environmental restoration and waste management: Robotics technology development program: Robotics 5-year program plan

    International Nuclear Information System (INIS)

    1991-01-01

    In FY 1990 Robotics Technology Development Program (RTDP) planning teams visited five DOE sites. These sites were selected by the Office of Technology Development to provide a needs basis for developing a 5-Year Plan. Visits to five DOE sites provided identification of needs for robotics technology development to support Environmental Restoration and Waste Management (ER ampersand WM) projects at those sites. Additional site visits will be conducted in the future to expand the planning basis. This volume summarizes both the results of the site visits and the needs and requirements of the priority ER ampersand WM activities at the sites, including potential needs for robotics and remote systems technology. It also discusses hazards associated with the site activities and any problems or technical uncertainties associated with dealing with the hazards in the performance of the ER ampersand WM work. Robotic or remote systems currently under development for remediation projects or waste operations are also discussed. The information in this document is organized principally by site, activity, and priority. Section 2.0, Site Needs, is based on information from the site visit reports and provides a summary which focuses on the site needs and requirements for each priority activity. Section 2.0 also records evaluations and discussions by the RTDP team following the site visit. Section 3.0, Commonality Assessment, documents similar site needs where common, or cross-cutting, robotics technology might be applied to several activities. Section 4.0 contains a summary of the site needs and requirements in tabular form. 1 tab

  8. Real-Time Motion Planning and Safe Navigation in Dynamic Multi-Robot Environments

    National Research Council Canada - National Science Library

    Bruce, James R

    2006-01-01

    .... While motion planning has been used for high level robot navigation, or limited to semi-static or single-robot domains, it has often been dismissed for the real-time low-level control of agents due...

  9. A Velocity-Level Bi-Criteria Optimization Scheme for Coordinated Path Tracking of Dual Robot Manipulators Using Recurrent Neural Network.

    Science.gov (United States)

    Xiao, Lin; Zhang, Yongsheng; Liao, Bolin; Zhang, Zhijun; Ding, Lei; Jin, Long

    2017-01-01

    A dual-robot system is a robotic device composed of two robot arms. To eliminate the joint-angle drift and prevent the occurrence of high joint velocity, a velocity-level bi-criteria optimization scheme, which includes two criteria (i.e., the minimum velocity norm and the repetitive motion), is proposed and investigated for coordinated path tracking of dual robot manipulators. Specifically, to realize the coordinated path tracking of dual robot manipulators, two subschemes are first presented for the left and right robot manipulators. After that, such two subschemes are reformulated as two general quadratic programs (QPs), which can be formulated as one unified QP. A recurrent neural network (RNN) is thus presented to solve effectively the unified QP problem. At last, computer simulation results based on a dual three-link planar manipulator further validate the feasibility and the efficacy of the velocity-level optimization scheme for coordinated path tracking using the recurrent neural network.

  10. Multi-robot caravanning

    KAUST Repository

    Denny, Jory; Giese, Andrew; Mahadevan, Aditya; Marfaing, Arnaud; Glockenmeier, Rachel; Revia, Colton; Rodriguez, Samuel; Amato, Nancy M.

    2013-01-01

    of waypoints. At the heart of our algorithm is the use of leader election to efficiently exploit the unique environmental knowledge available to each robot in order to plan paths for the group, which makes it general enough to work with robots that have

  11. Efficient Symbolic Task Planning for Multiple Mobile Robots

    Science.gov (United States)

    2016-12-13

    shows a map of the testing environment. S1 and S2 ( green rectangles) are the initial positions of two robots, and G1 and G2 (red ellipses) show their...intelligence, pages 1594–1597. AAAI Press, 2008. [25] Mausam and D. S. Weld . Planning with durative actions in stochastic domains. J. Artif. Intell. Res...JAIR), 31:33–82, 2008. [26] D. McDermott, M. Ghallab, A. Howe, C. Knoblock, A. Ram, M. Veloso, D. Weld , and D. Wilkins. Pddl-the planning domain

  12. Minimum dose method for walking-path planning of nuclear facilities

    International Nuclear Information System (INIS)

    Liu, Yong-kuo; Li, Meng-kun; Xie, Chun-li; Peng, Min-jun; Wang, Shuang-yu; Chao, Nan; Liu, Zhong-kun

    2015-01-01

    Highlights: • For radiation environment, the environment model is proposed. • For the least dose walking path problem, a path-planning method is designed. • The path-planning virtual–real mixed simulation program is developed. • The program can plan walking path and simulate. - Abstract: A minimum dose method based on staff walking road network model was proposed for the walking-path planning in nuclear facilities. A virtual–reality simulation program was developed using C# programming language and Direct X engine. The simulation program was used in simulations dealing with virtual nuclear facilities. Simulation results indicated that the walking-path planning method was effective in providing safety for people walking in nuclear facilities

  13. A Motion Planning Method for Omnidirectional Mobile Robot Based on the Anisotropic Characteristics

    Directory of Open Access Journals (Sweden)

    Chuntao Leng

    2008-11-01

    Full Text Available A more suitable motion planning method for an omni-directional mobile robot (OMR, an improved APF method (iAPF, is proposed in this paper by introducing the revolving factor into the artificial potential field (APF. Accordingly, the motion direction derived from traditional artificial potential field (tAPF is regulated. The maximum velocity, maximum acceleration and energy consumption of the OMR moving in different directions are analyzed, based on the kinematic and dynamic constraints of an OMR, and the anisotropy of OMR is presented in this paper. Then the novel concept of an Anisotropic-Function is proposed to indicate the quality of motion in different directions, which can make a very favorable trade-off between time-optimality, stability and efficacy-optimality. In order to obtain the optimal motion, the path that the robot can take in order to avoid the obstacle safely and reach the goal in a shorter path is deduced. Finally, simulations and experiments are carried out to demonstrate that the motion resulting from the iAPF is high-speed, highly stable and highly efficient when compared to the tAPF.

  14. Goal-oriented path planning for ground and aerial vehicles

    OpenAIRE

    Signifredi, Andrea

    2017-01-01

    Nowadays autonomous robots are used in everyday life more than ever. The idea that motivate the develop of new autonomous application is to lessen the fatigue of repetitive works and to make safer the work that are difficult if done by humans alone. Another goal of autonomous robots is to improve precision and repetitiveness in the actuation of actions. Car makers are now showing to consider autonomous driving a ground braking functionality and one of the most important additions to their ass...

  15. Study on State Transition Method Applied to Motion Planning for a Humanoid Robot

    Directory of Open Access Journals (Sweden)

    Xuyang Wang

    2008-11-01

    Full Text Available This paper presents an approach of motion planning for a humanoid robot using a state transition method. In this method, motion planning is simplified by introducing a state-space to describe the whole motion series. And each state in the state-space corresponds to a contact state specified during the motion. The continuous motion is represented by a sequence of discrete states. The concept of the transition between two neighboring states, that is the state transition, can be realized by using some traditional path planning methods. Considering the dynamical stability of the robot, a state transition method based on search strategy is proposed. Different sets of trajectories are generated by using a variable 5th-order polynomial interpolation method. After quantifying the stabilities of these trajectories, the trajectories with the largest stability margin are selected as the final state transition trajectories. Rising motion process is exemplified to validate the method and the simulation results show the proposed method to be feasible and effective.

  16. System Design and Implementation of Intelligent Fire Engine Path Planning based on SAT Algorithm

    Institute of Scientific and Technical Information of China (English)

    CAI Li-sha[1; ZENG Wei-peng[1; HAN Bao-ru[1

    2016-01-01

    In this paper, in order to make intelligent fi re car complete autonomy path planning in simulation map. Proposed system design of intelligent fi re car path planning based on SAT. The system includes a planning module, a communication module, a control module. Control module via the communication module upload the initial state and the goal state to planning module. Planning module solve this planning solution,and then download planning solution to control module, control the movement of the car fi re. Experiments show this the system is tracking short time, higher planning effi ciency.

  17. A Path Tracking Algorithm Using Future Prediction Control with Spike Detection for an Autonomous Vehicle Robot

    Directory of Open Access Journals (Sweden)

    Muhammad Aizzat Zakaria

    2013-08-01

    Full Text Available Trajectory tracking is an important aspect of autonomous vehicles. The idea behind trajectory tracking is the ability of the vehicle to follow a predefined path with zero steady state error. The difficulty arises due to the nonlinearity of vehicle dynamics. Therefore, this paper proposes a stable tracking control for an autonomous vehicle. An approach that consists of steering wheel control and lateral control is introduced. This control algorithm is used for a non-holonomic navigation problem, namely tracking a reference trajectory in a closed loop form. A proposed future prediction point control algorithm is used to calculate the vehicle's lateral error in order to improve the performance of the trajectory tracking. A feedback sensor signal from the steering wheel angle and yaw rate sensor is used as feedback information for the controller. The controller consists of a relationship between the future point lateral error, the linear velocity, the heading error and the reference yaw rate. This paper also introduces a spike detection algorithm to track the spike error that occurs during GPS reading. The proposed idea is to take the advantage of the derivative of the steering rate. This paper aims to tackle the lateral error problem by applying the steering control law to the vehicle, and proposes a new path tracking control method by considering the future coordinate of the vehicle and the future estimated lateral error. The effectiveness of the proposed controller is demonstrated by a simulation and a GPS experiment with noisy data. The approach used in this paper is not limited to autonomous vehicles alone since the concept of autonomous vehicle tracking can be used in mobile robot platforms, as the kinematic model of these two platforms is similar.

  18. Resampling: An optimization method for inverse planning in robotic radiosurgery

    International Nuclear Information System (INIS)

    Schweikard, Achim; Schlaefer, Alexander; Adler, John R. Jr.

    2006-01-01

    By design, the range of beam directions in conventional radiosurgery are constrained to an isocentric array. However, the recent introduction of robotic radiosurgery dramatically increases the flexibility of targeting, and as a consequence, beams need be neither coplanar nor isocentric. Such a nonisocentric design permits a large number of distinct beam directions to be used in one single treatment. These major technical differences provide an opportunity to improve upon the well-established principles for treatment planning used with GammaKnife or LINAC radiosurgery. With this objective in mind, our group has developed over the past decade an inverse planning tool for robotic radiosurgery. This system first computes a set of beam directions, and then during an optimization step, weights each individual beam. Optimization begins with a feasibility query, the answer to which is derived through linear programming. This approach offers the advantage of completeness and avoids local optima. Final beam selection is based on heuristics. In this report we present and evaluate a new strategy for utilizing the advantages of linear programming to improve beam selection. Starting from an initial solution, a heuristically determined set of beams is added to the optimization problem, while beams with zero weight are removed. This process is repeated to sample a set of beams much larger compared with typical optimization. Experimental results indicate that the planning approach efficiently finds acceptable plans and that resampling can further improve its efficiency

  19. Local Path Planning of Driverless Car Navigation Based on Jump Point Search Method Under Urban Environment

    Directory of Open Access Journals (Sweden)

    Kaijun Zhou

    2017-09-01

    Full Text Available The Jump Point Search (JPS algorithm is adopted for local path planning of the driverless car under urban environment, and it is a fast search method applied in path planning. Firstly, a vector Geographic Information System (GIS map, including Global Positioning System (GPS position, direction, and lane information, is built for global path planning. Secondly, the GIS map database is utilized in global path planning for the driverless car. Then, the JPS algorithm is adopted to avoid the front obstacle, and to find an optimal local path for the driverless car in the urban environment. Finally, 125 different simulation experiments in the urban environment demonstrate that JPS can search out the optimal and safety path successfully, and meanwhile, it has a lower time complexity compared with the Vector Field Histogram (VFH, the Rapidly Exploring Random Tree (RRT, A*, and the Probabilistic Roadmaps (PRM algorithms. Furthermore, JPS is validated usefully in the structured urban environment.

  20. Global optimal path planning of an autonomous vehicle for overtaking a moving obstacle

    Directory of Open Access Journals (Sweden)

    B. Mashadi

    Full Text Available In this paper, the global optimal path planning of an autonomous vehicle for overtaking a moving obstacle is proposed. In this study, the autonomous vehicle overtakes a moving vehicle by performing a double lane-change maneuver after detecting it in a proper distance ahead. The optimal path of vehicle for performing the lane-change maneuver is generated by a path planning program in which the sum of lateral deviation of the vehicle from a reference path and the rate of steering angle become minimum while the lateral acceleration of vehicle does not exceed a safe limit value. A nonlinear optimal control theory with the lateral vehicle dynamics equations and inequality constraint of lateral acceleration are used to generate the path. The indirect approach for solving the optimal control problem is used by applying the calculus of variation and the Pontryagin's Minimum Principle to obtain first-order necessary conditions for optimality. The optimal path is generated as a global optimal solution and can be used as the benchmark of the path generated by the local motion planning of autonomous vehicles. A full nonlinear vehicle model in CarSim software is used for path following simulation by importing path data from the MATLAB code. The simulation results show that the generated path for the autonomous vehicle satisfies all vehicle dynamics constraints and hence is a suitable overtaking path for the following vehicle.

  1. Cooperative path planning for multi-USV based on improved artificial bee colony algorithm

    Science.gov (United States)

    Cao, Lu; Chen, Qiwei

    2018-03-01

    Due to the complex constraints, more uncertain factors and critical real-time demand of path planning for multiple unmanned surface vehicle (multi-USV), an improved artificial bee colony (I-ABC) algorithm were proposed to solve the model of cooperative path planning for multi-USV. First the Voronoi diagram of battle field space is conceived to generate the optimal area of USVs paths. Then the chaotic searching algorithm is used to initialize the collection of paths, which is regard as foods of the ABC algorithm. With the limited data, the initial collection can search the optimal area of paths perfectly. Finally simulations of the multi-USV path planning under various threats have been carried out. Simulation results verify that the I-ABC algorithm can improve the diversity of nectar source and the convergence rate of algorithm. It can increase the adaptability of dynamic battlefield and unexpected threats for USV.

  2. A Distributed Framework for Real Time Path Planning in Practical Multi-agent Systems

    KAUST Repository

    Abdelkader, Mohamed

    2017-10-19

    We present a framework for distributed, energy efficient, and real time implementable algorithms for path planning in multi-agent systems. The proposed framework is presented in the context of a motivating example of capture the flag which is an adversarial game played between two teams of autonomous agents called defenders and attackers. We start with the centralized formulation of the problem as a linear program because of its computational efficiency. Then we present an approximation framework in which each agent solves a local version of the centralized linear program by communicating with its neighbors only. The premise in this work is that for practical multi-agent systems, real time implementability of distributed algorithms is more crucial then global optimality. Thus, instead of verifying the proposed framework by performing offline simulations in MATLAB, we run extensive simulations in a robotic simulator V-REP, which includes a detailed dynamic model of quadrotors. Moreover, to create a realistic scenario, we allow a human operator to control the attacker quadrotor through a joystick in a single attacker setup. These simulations authenticate that the proposed framework is real time implementable and results in a performance that is comparable with the global optimal solution under the considered scenarios.

  3. Construction of Optimal-Path Maps for Homogeneous-Cost-Region Path-Planning Problems

    Science.gov (United States)

    1989-09-01

    of Artificial Inteligence , 9%,4. 24. Kirkpatrick, S., Gelatt Jr., C. D., and Vecchi, M. P., "Optinization by Sinmulated Ani- nealing", Science, Vol...studied in depth by researchers in such fields as artificial intelligence, robot;cs, and computa- tional geometry. Most methods require homogeneous...the results of the research. 10 U. L SLEVANT RESEARCH A. APPLICABLE CONCEPTS FROM ARTIFICIAL INTELLIGENCE 1. Search Methods One of the central

  4. RSMDP-based Robust Q-learning for Optimal Path Planning in a Dynamic Environment

    Directory of Open Access Journals (Sweden)

    Yunfei Zhang

    2014-07-01

    Full Text Available This paper presents arobust Q-learning method for path planningin a dynamic environment. The method consists of three steps: first, a regime-switching Markov decision process (RSMDP is formed to present the dynamic environment; second a probabilistic roadmap (PRM is constructed, integrated with the RSMDP and stored as a graph whose nodes correspond to a collision-free world state for the robot; and third, an onlineQ-learning method with dynamic stepsize, which facilitates robust convergence of the Q-value iteration, is integrated with the PRM to determine an optimal path for reaching the goal. In this manner, the robot is able to use past experience for improving its performance in avoiding not only static obstacles but also moving obstacles, without knowing the nature of the obstacle motion. The use ofregime switching in the avoidance of obstacles with unknown motion is particularly innovative.  The developed approach is applied to a homecare robot in computer simulation. The results show that the online path planner with Q-learning is able torapidly and successfully converge to the correct path.

  5. Automatic Motion Generation for Robotic Milling Optimizing Stiffness with Sample-Based Planning

    Directory of Open Access Journals (Sweden)

    Julian Ricardo Diaz Posada

    2017-01-01

    Full Text Available Optimal and intuitive robotic machining is still a challenge. One of the main reasons for this is the lack of robot stiffness, which is also dependent on the robot positioning in the Cartesian space. To make up for this deficiency and with the aim of increasing robot machining accuracy, this contribution describes a solution approach for optimizing the stiffness over a desired milling path using the free degree of freedom of the machining process. The optimal motion is computed based on the semantic and mathematical interpretation of the manufacturing process modeled on its components: product, process and resource; and by configuring automatically a sample-based motion problem and the transition-based rapid-random tree algorithm for computing an optimal motion. The approach is simulated on a CAM software for a machining path revealing its functionality and outlining future potentials for the optimal motion generation for robotic machining processes.

  6. Research and application of genetic algorithm in path planning of logistics distribution vehicle

    Science.gov (United States)

    Wang, Yong; Zhou, Heng; Wang, Ying

    2017-08-01

    The core of the logistics distribution system is the vehicle routing planning, research path planning problem, provide a better solution has become an important issue. In order to provide the decision support for logistics and distribution operations, this paper studies the problem of vehicle routing with capacity constraints (CVRP). By establishing a mathematical model, the genetic algorithm is used to plan the path of the logistics vehicle to meet the minimum logistics and transportation costs.

  7. An adaptive dual-optimal path-planning technique for unmanned air vehicles

    Directory of Open Access Journals (Sweden)

    Whitfield Clifford A.

    2016-01-01

    Full Text Available A multi-objective technique for unmanned air vehicle path-planning generation through task allocation has been developed. The dual-optimal path-planning technique generates real-time adaptive flight paths based on available flight windows and environmental influenced objectives. The environmentally-influenced flight condition determines the aircraft optimal orientation within a downstream virtual window of possible vehicle destinations that is based on the vehicle’s kinematics. The intermittent results are then pursued by a dynamic optimization technique to determine the flight path. This path-planning technique is a multi-objective optimization procedure consisting of two goals that do not require additional information to combine the conflicting objectives into a single-objective. The technique was applied to solar-regenerative high altitude long endurance flight which can benefit significantly from an adaptive real-time path-planning technique. The objectives were to determine the minimum power required flight paths while maintaining maximum solar power for continual surveillance over an area of interest (AOI. The simulated path generation technique prolonged the flight duration over a sustained turn loiter flight path by approximately 2 months for a year of flight. The potential for prolonged solar powered flight was consistent for all latitude locations, including 2 months of available flight at 60° latitude, where sustained turn flight was no longer capable.

  8. Introduction of a computer-based method for automated planning of reduction paths under consideration of simulated muscular forces.

    Science.gov (United States)

    Buschbaum, Jan; Fremd, Rainer; Pohlemann, Tim; Kristen, Alexander

    2017-08-01

    Reduction is a crucial step in the surgical treatment of bone fractures. Finding an optimal path for restoring anatomical alignment is considered technically demanding because collisions as well as high forces caused by surrounding soft tissues can avoid desired reduction movements. The repetition of reduction movements leads to a trial-and-error process which causes a prolonged duration of surgery. By planning an appropriate reduction path-an optimal sequence of target-directed movements-these problems should be overcome. For this purpose, a computer-based method has been developed. Using the example of simple femoral shaft fractures, 3D models are generated out of CT images. A reposition algorithm aligns both fragments by reconstructing their broken edges. According to the criteria of a deduced planning strategy, a modified A*-algorithm searches collision-free route of minimal force from the dislocated into the computed target position. Muscular forces are considered using a musculoskeletal reduction model (OpenSim model), and bone collisions are detected by an appropriate method. Five femoral SYNBONE models were broken into different fracture classification types and were automatically reduced from ten randomly selected displaced positions. Highest mean translational and rotational error for achieving target alignment is [Formula: see text] and [Formula: see text]. Mean value and standard deviation of occurring forces are [Formula: see text] for M. tensor fasciae latae and [Formula: see text] for M. semitendinosus over all trials. These pathways are precise, collision-free, required forces are minimized, and thus regarded as optimal paths. A novel method for planning reduction paths under consideration of collisions and muscular forces is introduced. The results deliver additional knowledge for an appropriate tactical reduction procedure and can provide a basis for further navigated or robotic-assisted developments.

  9. ReACT!: An Interactive Educational Tool for AI Planning for Robotics

    Science.gov (United States)

    Dogmus, Zeynep; Erdem, Esra; Patogulu, Volkan

    2015-01-01

    This paper presents ReAct!, an interactive educational tool for artificial intelligence (AI) planning for robotics. ReAct! enables students to describe robots' actions and change in dynamic domains without first having to know about the syntactic and semantic details of the underlying formalism, and to solve planning problems using…

  10. Investigation In Two Wheels Mobile Robot Movement: Stability and Motion Paths

    Directory of Open Access Journals (Sweden)

    Abdulrahman A.A. Emhemed

    2013-01-01

    Full Text Available This paper deals with the problem of dynamic modelling of inspection robot two wheels. Fuzzy controller based on robotics techniques for optimize of an inspection stability. The target is to enhancement of robot direction and avoids the obstacles. To find collision free area, distance-sensors such as ultra-sonic sensors and laser scanners or vision systems are usually employed. The distance-sensors offer only distance information between mobile robots and obstacles. Also the target are shown can be reached by different directions. The fuzzy logic controller is effect to avoid the abstacles and get ideal direction to “the target box”.

  11. Robotics

    Science.gov (United States)

    Popov, E. P.; Iurevich, E. I.

    The history and the current status of robotics are reviewed, as are the design, operation, and principal applications of industrial robots. Attention is given to programmable robots, robots with adaptive control and elements of artificial intelligence, and remotely controlled robots. The applications of robots discussed include mechanical engineering, cargo handling during transportation and storage, mining, and metallurgy. The future prospects of robotics are briefly outlined.

  12. Path planning in uncertain flow fields using ensemble method

    KAUST Repository

    Wang, Tong; Le Maî tre, Olivier P.; Hoteit, Ibrahim; Knio, Omar

    2016-01-01

    , we predict the path that minimizes the travel time by solving a boundary value problem (BVP), based on the Pontryagin maximum principle. A family of backward-in-time trajectories starting at the end position is used to generate suitable initial values

  13. Robotic and artificial intelligence for keyhole neurosurgery: the ROBOCAST project, a multi-modal autonomous path planner.

    Science.gov (United States)

    De Momi, E; Ferrigno, G

    2010-01-01

    The robot and sensors integration for computer-assisted surgery and therapy (ROBOCAST) project (FP7-ICT-2007-215190) is co-funded by the European Union within the Seventh Framework Programme in the field of information and communication technologies. The ROBOCAST project focuses on robot- and artificial-intelligence-assisted keyhole neurosurgery (tumour biopsy and local drug delivery along straight or turning paths). The goal of this project is to assist surgeons with a robotic system controlled by an intelligent high-level controller (HLC) able to gather and integrate information from the surgeon, from diagnostic images, and from an array of on-field sensors. The HLC integrates pre-operative and intra-operative diagnostics data and measurements, intelligence augmentation, multiple-robot dexterity, and multiple sensory inputs in a closed-loop cooperating scheme including a smart interface for improved haptic immersion and integration. This paper, after the overall architecture description, focuses on the intelligent trajectory planner based on risk estimation and human criticism. The current status of development is reported, and first tests on the planner are shown by using a real image stack and risk descriptor phantom. The advantages of using a fuzzy risk description are given by the possibility of upgrading the knowledge on-field without the intervention of a knowledge engineer.

  14. Hierarchical path planning and control of a small fixed-wing UAV: Theory and experimental validation

    Science.gov (United States)

    Jung, Dongwon

    2007-12-01

    Recently there has been a tremendous growth of research emphasizing control of unmanned aerial vehicles (UAVs) either in isolation or in teams. As a matter of fact, UAVs increasingly find their way into military and law enforcement applications (e.g., reconnaissance, remote delivery of urgent equipment/material, resource assessment, environmental monitoring, battlefield monitoring, ordnance delivery, etc.). This trend will continue in the future, as UAVs are poised to replace the human-in-the-loop during dangerous missions. Civilian applications of UAVs are also envisioned such as crop dusting, geological surveying, search and rescue operations, etc. In this thesis we propose a new online multiresolution path planning algorithm for a small UAV with limited on-board computational resources. The proposed approach assumes that the UAV has detailed information of the environment and the obstacles only in its vicinity. Information about far-away obstacles is also available, albeit less accurately. The proposed algorithm uses the fast lifting wavelet transform (FLWT) to get a multiresolution cell decomposition of the environment, whose dimension is commensurate to the on-board computational resources. A topological graph representation of the multiresolution cell decomposition is constructed efficiently, directly from the approximation and detail wavelet coefficients. Dynamic path planning is sequentially executed for an optimal path using the A* algorithm over the resulting graph. The proposed path planning algorithm is implemented on-line on a small autopilot. Comparisons with the standard D*-lite algorithm are also presented. We also investigate the problem of generating a smooth, planar reference path from a discrete optimal path. Upon the optimal path being represented as a sequence of cells in square geometry, we derive a smooth B-spline path that is constrained inside a channel that is induced by the geometry of the cells. To this end, a constrained optimization

  15. Path Planning Software and Graphics Interface for an Autonomous Vehicle, Accounting for Terrain Features

    National Research Council Canada - National Science Library

    Hurezeanu, Vlad

    2000-01-01

    .... This vehicle performs tasks to include surveying fields, laying mines, and teleoperation. The capability of the vehicle will be increased if its supporting software plans paths that take into account the terrain features...

  16. A Distributed Framework for Real Time Path Planning in Practical Multi-agent Systems

    KAUST Repository

    Abdelkader, Mohamed; Jaleel, Hassan; Shamma, Jeff S.

    2017-01-01

    We present a framework for distributed, energy efficient, and real time implementable algorithms for path planning in multi-agent systems. The proposed framework is presented in the context of a motivating example of capture the flag which

  17. Time-optimal path planning in uncertain flow fields using ensemble method

    KAUST Repository

    Wang, Tong; Le Maitre, Olivier; Hoteit, Ibrahim; Knio, Omar

    2016-01-01

    the performance of sampling strategy, and develop insight into extensions dealing with regional or general circulation models. In particular, the ensemble method enables us to perform a statistical analysis of travel times, and consequently develop a path planning

  18. Marine Robot Autonomy

    CERN Document Server

    2013-01-01

    Autonomy for Marine Robots provides a timely and insightful overview of intelligent autonomy in marine robots. A brief history of this emerging field is provided, along with a discussion of the challenges unique to the underwater environment and their impact on the level of intelligent autonomy required.  Topics covered at length examine advanced frameworks, path-planning, fault tolerance, machine learning, and cooperation as relevant to marine robots that need intelligent autonomy.  This book also: Discusses and offers solutions for the unique challenges presented by more complex missions and the dynamic underwater environment when operating autonomous marine robots Includes case studies that demonstrate intelligent autonomy in marine robots to perform underwater simultaneous localization and mapping  Autonomy for Marine Robots is an ideal book for researchers and engineers interested in the field of marine robots.      

  19. Path tracking control of mobile robots with techniques based on the use of curved abscissa

    International Nuclear Information System (INIS)

    Micaelli, A.

    1992-01-01

    The paper describes a particular method, developed by the CEA, for the control of mobile robot trajectories based on Cornu's spiral, i.e; sections of trajectories with constant curvature. New approaches are discussed for methods more convenient

  20. Strategic Path Planning by Sequential Parametric Bayesian Decisions

    Directory of Open Access Journals (Sweden)

    Baro Hyun

    2013-11-01

    Full Text Available The objective of this research is to generate a path for a mobile agent that carries sensors used for classification, where the path is to optimize strategic objectives that account for misclassification and the consequences of misclassification, and where the weights assigned to these consequences are chosen by a strategist. We propose a model that accounts for the interaction between the agent kinematics (i.e., the ability to move, informatics (i.e., the ability to process data to information, classification (i.e., the ability to classify objects based on the information, and strategy (i.e., the mission objective. Within this model, we pose and solve a sequential decision problem that accounts for strategist preferences and the solution to the problem yields a sequence of kinematic decisions of a moving agent. The solution of the sequential decision problem yields the following flying tactics: “approach only objects whose suspected identity matters to the strategy”. These tactics are numerically illustrated in several scenarios.

  1. Autonomous Path Planning for Road Vehicles in Narrow Environments: An Efficient Continuous Curvature Approach

    Directory of Open Access Journals (Sweden)

    Domokos Kiss

    2017-01-01

    Full Text Available In this paper we introduce a novel method for obtaining good quality paths for autonomous road vehicles (e.g., cars or buses in narrow environments. There are many traffic situations in urban scenarios where nontrivial maneuvering in narrow places is necessary. Navigating in cluttered parking lots or having to avoid obstacles blocking the way and finding a detour even in narrow streets are challenging, especially if the vehicle has large dimensions like a bus. We present a combined approximation-based approach to solve the path planning problem in such situations. Our approach consists of a global planner which generates a preliminary path consisting of straight and turning-in-place primitives and a local planner which is used to make the preliminary path feasible to car-like vehicles. The approximation methodology is well known in the literature; however, both components proposed in this paper differ from existing similar planning methods. The approximation process with the proposed local planner is proven to be convergent for any preliminary global paths. The resulting path has continuous curvature which renders our method well suited for application on real vehicles. Simulation experiments show that the proposed method outperforms similar approaches in terms of path quality in complicated planning tasks.

  2. A hybrid metaheuristic DE/CS algorithm for UCAV three-dimension path planning.

    Science.gov (United States)

    Wang, Gaige; Guo, Lihong; Duan, Hong; Wang, Heqi; Liu, Luo; Shao, Mingzhen

    2012-01-01

    Three-dimension path planning for uninhabited combat air vehicle (UCAV) is a complicated high-dimension optimization problem, which primarily centralizes on optimizing the flight route considering the different kinds of constrains under complicated battle field environments. A new hybrid metaheuristic differential evolution (DE) and cuckoo search (CS) algorithm is proposed to solve the UCAV three-dimension path planning problem. DE is applied to optimize the process of selecting cuckoos of the improved CS model during the process of cuckoo updating in nest. The cuckoos can act as an agent in searching the optimal UCAV path. And then, the UCAV can find the safe path by connecting the chosen nodes of the coordinates while avoiding the threat areas and costing minimum fuel. This new approach can accelerate the global convergence speed while preserving the strong robustness of the basic CS. The realization procedure for this hybrid metaheuristic approach DE/CS is also presented. In order to make the optimized UCAV path more feasible, the B-Spline curve is adopted for smoothing the path. To prove the performance of this proposed hybrid metaheuristic method, it is compared with basic CS algorithm. The experiment shows that the proposed approach is more effective and feasible in UCAV three-dimension path planning than the basic CS model.

  3. Three-Dimensional Path Planning Software-Assisted Transjugular Intrahepatic Portosystemic Shunt: A Technical Modification

    Energy Technology Data Exchange (ETDEWEB)

    Tsauo, Jiaywei, E-mail: 80732059@qq.com; Luo, Xuefeng, E-mail: luobo-913@126.com [West China Hospital of Sichuan University, Institute of Interventional Radiology (China); Ye, Linchao, E-mail: linchao.ye@siemens.com [Siemens Ltd, Healthcare Sector (China); Li, Xiao, E-mail: simonlixiao@gmail.com [West China Hospital of Sichuan University, Institute of Interventional Radiology (China)

    2015-06-15

    PurposeThis study was designed to report our results with a modified technique of three-dimensional (3D) path planning software assisted transjugular intrahepatic portosystemic shunt (TIPS).Methods3D path planning software was recently developed to facilitate TIPS creation by using two carbon dioxide portograms acquired at least 20° apart to generate a 3D path for overlay needle guidance. However, one shortcoming is that puncturing along the overlay would be technically impossible if the angle of the liver access set and the angle of the 3D path are not the same. To solve this problem, a prototype 3D path planning software was fitted with a utility to calculate the angle of the 3D path. Using this, we modified the angle of the liver access set accordingly during the procedure in ten patients.ResultsFailure for technical reasons occurred in three patients (unsuccessful wedged hepatic venography in two cases, software technical failure in one case). The procedure was successful in the remaining seven patients, and only one needle pass was required to obtain portal vein access in each case. The course of puncture was comparable to the 3D path in all patients. No procedure-related complication occurred following the procedures.ConclusionsAdjusting the angle of the liver access set to match the angle of the 3D path determined by the software appears to be a favorable modification to the technique of 3D path planning software assisted TIPS.

  4. The intertwining paths of the density managment and riparian buffer study and the Northwest Forest Plan

    Science.gov (United States)

    Kenneth J. Ruzicka; Deanna H. Olson; Klaus J. Puettmann

    2013-01-01

    Initiated simultaneously, the Density Management and Riparian Buff er Study of western Oregon and the Northwest Forest Plan have had intertwining paths related to federal forest management and policy changes in the Pacifi c Northwest over the last 15 to 20 years. We briefl y discuss the development of the Northwest Forest Plan and how it changed the way forest policy...

  5. Multibody system dynamics, robotics and control

    CERN Document Server

    Gerstmayr, Johannes

    2013-01-01

    The volume contains 19 contributions by international experts in the field of multibody system dynamics, robotics and control. The book aims to bridge the gap between the modeling of mechanical systems by means of multibody dynamics formulations and robotics. In the classical approach, a multibody dynamics model contains a very high level of detail, however, the application of such models to robotics or control is usually limited. The papers aim to connect the different scientific communities in multibody dynamics, robotics and control. Main topics are flexible multibody systems, humanoid robots, elastic robots, nonlinear control, optimal path planning, and identification.

  6. The development of fire detection robot

    OpenAIRE

    Sucuoğlu, Hilmi Saygın

    2015-01-01

    The aim of this thesis is to design and manufacture a fire detection robot that especially operates in industrial areas for fire inspection and early detection. Robot is designed and implemented to track prescribed paths with obstacle avoidance function through obstacle avoidance and motion planning units and to scan the environment in order to detect fire source using fire detection unit. Robot is able to track patrolling routes using virtual lines that defined to the motion planning unit. ...

  7. Trajectory Planning and Walking Pattern Generation of Humanoid Robot Motion

    Directory of Open Access Journals (Sweden)

    Saeed Abdolshah

    2014-12-01

    Full Text Available Walking trajectory generation for a humanoid robot is a challenging control  issue. In this paper, a walking cycle has been recognized considering human motion, and nine simple steps were distinguished in a full step of walking which form motion trajectory, and generates a simplified ZMP motion formulation. This system was used in humanoid robot simulation motion and is achievable easily in walking steps of robot. A minimum DOFs humanoid robot has been considered and geometrical relationships between the robot links were presented by the Denavit-Hartenberg method. The inverse kinematics equations have been solved regarding to extracted ZMP trajectory formula, and constraints in different steps. As a result; angular velocity, acceleration and power of motors were obtained using the relationships and Jacobin. At each step, extracted data were applied on simulated robot in Matlab, and Visual Nastran software. Zero moment point trajectory was evaluated in simulation environment.

  8. 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.

  9. Tree Climbing Robot Design, Kinematics and Motion Planning

    CERN Document Server

    Lam, Tin Lun

    2012-01-01

    Climbing robot is a challenging research topic that has gained much attention from researchers. Most of the robots reported in the literature are designed to climb on manmade structures, but seldom robots are designed for climbing natural environment such as trees. Trees and manmade structures are very different in nature. It brings different aspects of technical challenges to the robot design. In this book, you can find a collection of the cutting edge technologies in the field of tree-climbing robot and the ways that animals climb. It provides a valuable reference for robot designers to select appropriate climbing methods in designing tree-climbing robots for specific purposes. Based on the study, a novel bio-inspired tree-climbing robot with several breakthrough performances has been developed and presents in this book. It is capable of performing various actions that is impossible in the state-of-the-art tree-climbing robots, such as moving between trunk and branches. This book also proposes several appro...

  10. Multi-agent System for Off-line Coordinated Motion Planning of Multiple Industrial Robots

    Directory of Open Access Journals (Sweden)

    Shital S. Chiddarwar

    2011-03-01

    Full Text Available This article presents an agent based framework for coordinated motion planning of multiple robots. The emerging paradigm of agent based systems is implemented to address various issues related to safe and fast task execution when multiple robots share a common workspace. In the proposed agent based framework, each issue vital for coordinated motion planning of multiple robots and every robot participating in coordinated task is considered as an agent. The identified agents are interfaced with each other in order to incorporate the desired flexibility in the developed framework. This framework gives a complete strategy for determination of optimal trajectories of robots working in coordination with due consideration to their kinematic, dynamic and payload constraint. The complete architecture of the proposed framework and the detailed discussion on various modules are covered in this paper.

  11. A novel approach for multiple mobile objects path planning: Parametrization method and conflict resolution strategy

    International Nuclear Information System (INIS)

    Ma, Yong; Wang, Hongwei; Zamirian, M.

    2012-01-01

    We present a new approach containing two steps to determine conflict-free paths for mobile objects in two and three dimensions with moving obstacles. Firstly, the shortest path of each object is set as goal function which is subject to collision-avoidance criterion, path smoothness, and velocity and acceleration constraints. This problem is formulated as calculus of variation problem (CVP). Using parametrization method, CVP is converted to time-varying nonlinear programming problems (TNLPP) and then resolved. Secondly, move sequence of object is assigned by priority scheme; conflicts are resolved by multilevel conflict resolution strategy. Approach efficiency is confirmed by numerical examples. -- Highlights: ► Approach with parametrization method and conflict resolution strategy is proposed. ► Approach fits for multi-object paths planning in two and three dimensions. ► Single object path planning and multi-object conflict resolution are orderly used. ► Path of each object obtained with parameterization method in the first phase. ► Conflict-free paths gained by multi-object conflict resolution in the second phase.

  12. Sensor-Oriented Path Planning for Multiregion Surveillance with a Single Lightweight UAV SAR.

    Science.gov (United States)

    Li, Jincheng; Chen, Jie; Wang, Pengbo; Li, Chunsheng

    2018-02-11

    In the surveillance of interested regions by unmanned aerial vehicle (UAV), system performance relies greatly on the motion control strategy of the UAV and the operation characteristics of the onboard sensors. This paper investigates the 2D path planning problem for the lightweight UAV synthetic aperture radar (SAR) system in an environment of multiple regions of interest (ROIs), the sizes of which are comparable to the radar swath width. Taking into account the special requirements of the SAR system on the motion of the platform, we model path planning for UAV SAR as a constrained multiobjective optimization problem (MOP). Based on the fact that the UAV route can be designed in the map image, an image-based path planner is proposed in this paper. First, the neighboring ROIs are merged by the morphological operation. Then, the parts of routes for data collection of the ROIs can be located according to the geometric features of the ROIs and the observation geometry of UAV SAR. Lastly, the route segments for ROIs surveillance are connected by a path planning algorithm named the sampling-based sparse A* search (SSAS) algorithm. Simulation experiments in real scenarios demonstrate that the proposed sensor-oriented path planner can improve the reconnaissance performance of lightweight UAV SAR greatly compared with the conventional zigzag path planner.

  13. Sensor-Oriented Path Planning for Multiregion Surveillance with a Single Lightweight UAV SAR

    Science.gov (United States)

    Li, Jincheng; Chen, Jie; Wang, Pengbo; Li, Chunsheng

    2018-01-01

    In the surveillance of interested regions by unmanned aerial vehicle (UAV), system performance relies greatly on the motion control strategy of the UAV and the operation characteristics of the onboard sensors. This paper investigates the 2D path planning problem for the lightweight UAV synthetic aperture radar (SAR) system in an environment of multiple regions of interest (ROIs), the sizes of which are comparable to the radar swath width. Taking into account the special requirements of the SAR system on the motion of the platform, we model path planning for UAV SAR as a constrained multiobjective optimization problem (MOP). Based on the fact that the UAV route can be designed in the map image, an image-based path planner is proposed in this paper. First, the neighboring ROIs are merged by the morphological operation. Then, the parts of routes for data collection of the ROIs can be located according to the geometric features of the ROIs and the observation geometry of UAV SAR. Lastly, the route segments for ROIs surveillance are connected by a path planning algorithm named the sampling-based sparse A* search (SSAS) algorithm. Simulation experiments in real scenarios demonstrate that the proposed sensor-oriented path planner can improve the reconnaissance performance of lightweight UAV SAR greatly compared with the conventional zigzag path planner. PMID:29439447

  14. A Dynamic Bioinspired Neural Network Based Real-Time Path Planning Method for Autonomous Underwater Vehicles.

    Science.gov (United States)

    Ni, Jianjun; Wu, Liuying; Shi, Pengfei; Yang, Simon X

    2017-01-01

    Real-time path planning for autonomous underwater vehicle (AUV) is a very difficult and challenging task. Bioinspired neural network (BINN) has been used to deal with this problem for its many distinct advantages: that is, no learning process is needed and realization is also easy. However, there are some shortcomings when BINN is applied to AUV path planning in a three-dimensional (3D) unknown environment, including complex computing problem when the environment is very large and repeated path problem when the size of obstacles is bigger than the detection range of sensors. To deal with these problems, an improved dynamic BINN is proposed in this paper. In this proposed method, the AUV is regarded as the core of the BINN and the size of the BINN is based on the detection range of sensors. Then the BINN will move with the AUV and the computing could be reduced. A virtual target is proposed in the path planning method to ensure that the AUV can move to the real target effectively and avoid big-size obstacles automatically. Furthermore, a target attractor concept is introduced to improve the computing efficiency of neural activities. Finally, some experiments are conducted under various 3D underwater environments. The experimental results show that the proposed BINN based method can deal with the real-time path planning problem for AUV efficiently.

  15. Research on Navigation Path Planning for An Underground Load Haul Dump

    Directory of Open Access Journals (Sweden)

    Qi Yulong

    2015-11-01

    Full Text Available The improved A * algorithm is a method of navigation path planning for articulated underground scrapers. Firstly, an environment model based on a mining Geographic Information System (GIS map is established, and then combined with improved A * algorithm, the underground global path planning problem of the intelligent Load Haul Dump (LHD is solved. In this paper, for the articulated structure, the method of expanding nodes by articulation angle is adopted to make expanded nodes meet the trajectory characteristics. In addition, collision threat cost is introduced in the evaluation function to avoid collisions between the LHD and the tunnel walls. As peran analysis of the simulation test to verify the effectiveness of the improved A * algorithm and a comparison with the traditional A * algorithm, the improved A * algorithm can enhance search efficiency. Acontrast of multiple sets of test parameters suggests that when the price weighted coefficient of collision is 0.2, the shortest path can be derived to avoid impact. Finally, tracking results indicate that the proposed algorithm for navigation path planning can maintain the tracking error to within 0.2 m in line with the structural characteristics of the scraper in the laboratory environment to realize the path planning of unmanned scrapers and trajectory tracking. Moreover, the algorithm can enhance the safety of scrapers and prevent roadway collisions. The feasibility and practicality of the proposed method is verified in this work.

  16. Robots and lattice automata

    CERN Document Server

    Adamatzky, Andrew

    2015-01-01

    The book gives a comprehensive overview of the state-of-the-art research and engineering in theory and application of Lattice Automata in design and control of autonomous Robots. Automata and robots share the same notional meaning. Automata (originated from the latinization of the Greek word “αυτόματον”) as self-operating autonomous machines invented from ancient years can be easily considered the first steps of robotic-like efforts. Automata are mathematical models of Robots and also they are integral parts of robotic control systems. A Lattice Automaton is a regular array or a collective of finite state machines, or automata. The Automata update their states by the same rules depending on states of their immediate neighbours. In the context of this book, Lattice Automata are used in developing modular reconfigurable robotic systems, path planning and map exploration for robots, as robot controllers, synchronisation of robot collectives, robot vision, parallel robotic actuators. All chapters are...

  17. A study on in-pipe inspection mobile robots, 3

    International Nuclear Information System (INIS)

    Fukuda, Toshio; 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)

  18. Gait Planning Research for an Electrically Driven Large-Load-Ratio Six-Legged Robot

    Directory of Open Access Journals (Sweden)

    Hong-Chao Zhuang

    2017-03-01

    Full Text Available Gait planning is an important basis for the walking of a legged robot. To improve the walking stability of multi-legged robots and to reduce the impact force between the foot and the ground, gait planning strategies are presented for an electrically driven large-load-ratio six-legged robot. First, the configuration and walking gait of the electrically driven large-load-ratio six-legged robot are designed. The higher-stable swing sequences of legs and typical walking modes are respectively obtained. Based on the Denavit–Hartenberg (D–H method, the analyses of the forward and inverse kinematics are implemented. The mathematical models of the articulated rotation angles are respectively established. In view of the buffer device installed at the end of shin to decrease the impact force between the foot and the ground, an initial lift height of the leg is brought into gait planning when the support phase changes into the transfer phase. The mathematical models of foot trajectories are established. Finally, a prototype of the electrically driven large-load-ratio six-legged robot is developed. The experiments of the prototype are carried out regarding the aspects of the walking speed and surmounting obstacle. Then, the reasonableness of gait planning is verified based on the experimental results. The proposed strategies of gait planning lay the foundation for effectively reducing the foot–ground impact force and can provide a reference for other large-load-ratio multi-legged robots.

  19. Evolutionistic or revolutionary paths? A PACS maturity model for strategic situational planning.

    Science.gov (United States)

    van de Wetering, Rogier; Batenburg, Ronald; Lederman, Reeva

    2010-07-01

    While many hospitals are re-evaluating their current Picture Archiving and Communication System (PACS), few have a mature strategy for PACS deployment. Furthermore, strategies for implementation, strategic and situational planning methods for the evolution of PACS maturity are scarce in the scientific literature. Consequently, in this paper we propose a strategic planning method for PACS deployment. This method builds upon a PACS maturity model (PMM), based on the elaboration of the strategic alignment concept and the maturity growth path concept previously developed in the PACS domain. First, we review the literature on strategic planning for information systems and information technology and PACS maturity. Secondly, the PMM is extended by applying four different strategic perspectives of the Strategic Alignment Framework whereupon two types of growth paths (evolutionistic and revolutionary) are applied that focus on a roadmap for PMM. This roadmap builds a path to get from one level of maturity and evolve to the next. An extended method for PACS strategic planning is developed. This method defines eight distinctive strategies for PACS strategic situational planning that allow decision-makers in hospitals to decide which approach best suits their hospitals' current situation and future ambition and what in principle is needed to evolve through the different maturity levels. The proposed method allows hospitals to strategically plan for PACS maturation. It is situational in that the required investments and activities depend on the alignment between the hospital strategy and the selected growth path. The inclusion of both strategic alignment and maturity growth path concepts make the planning method rigorous, and provide a framework for further empirical research and clinical practice.

  20. Dynamic path planning for autonomous driving on various roads with avoidance of static and moving obstacles

    Science.gov (United States)

    Hu, Xuemin; Chen, Long; Tang, Bo; Cao, Dongpu; He, Haibo

    2018-02-01

    This paper presents a real-time dynamic path planning method for autonomous driving that avoids both static and moving obstacles. The proposed path planning method determines not only an optimal path, but also the appropriate acceleration and speed for a vehicle. In this method, we first construct a center line from a set of predefined waypoints, which are usually obtained from a lane-level map. A series of path candidates are generated by the arc length and offset to the center line in the s - ρ coordinate system. Then, all of these candidates are converted into Cartesian coordinates. The optimal path is selected considering the total cost of static safety, comfortability, and dynamic safety; meanwhile, the appropriate acceleration and speed for the optimal path are also identified. Various types of roads, including single-lane roads and multi-lane roads with static and moving obstacles, are designed to test the proposed method. The simulation results demonstrate the effectiveness of the proposed method, and indicate its wide practical application to autonomous driving.

  1. Planning of optimal work path for minimizing exposure dose during radiation work in radwaste storage

    International Nuclear Information System (INIS)

    Kim, Yoon Hyuk; Park, Won Man; Kim, Kyung Soo; Whang, Joo Ho

    2005-01-01

    Since the safety of nuclear power plant has been becoming a big social issue, the exposure dose of radiation for workers has been one of the important factors concerning the safety problem. The existing calculation methods of radiation dose used in the planning of radiation work assume that dose rate dose not depend on the location within a work space, thus the variation of exposure dose by different work path is not considered. In this study, a modified numerical method was presented to estimate the exposure dose during radiation work in radwaste storage considering the effects of the distance between a worker and sources. And a new numerical algorithm was suggested to search the optimal work path minimizing the exposure dose in pre-defined work space with given radiation sources. Finally, a virtual work simulation program was developed to visualize the exposure dose of radiation during radiation works in radwaste storage and provide the capability of simulation for work planning. As a numerical example, a test radiation work was simulated under given space and two radiation sources, and the suggested optimal work path was compared with three predefined work paths. The optimal work path obtained in the study could reduce the exposure dose for the given test work. Based on the results, the developed numerical method and simulation program could be useful tools in the planning of radiation work

  2. Current-Sensitive Path Planning for an Underactuated Free-Floating Ocean Sensorweb

    Science.gov (United States)

    Dahl, Kristen P.; Thompson, David R.; McLaren, David; Chao, Yi; Chien, Steve

    2011-01-01

    This work investigates multi-agent path planning in strong, dynamic currents using thousands of highly under-actuated vehicles. We address the specific task of path planning for a global network of ocean-observing floats. These submersibles are typified by the Argo global network consisting of over 3000 sensor platforms. They can control their buoyancy to float at depth for data collection or rise to the surface for satellite communications. Currently, floats drift at a constant depth regardless of the local currents. However, accurate current forecasts have become available which present the possibility of intentionally controlling floats' motion by dynamically commanding them to linger at different depths. This project explores the use of these current predictions to direct float networks to some desired final formation or position. It presents multiple algorithms for such path optimization and demonstrates their advantage over the standard approach of constant-depth drifting.

  3. Planning the Motion of a Robotic Assistant for Space Applications

    Data.gov (United States)

    National Aeronautics and Space Administration — Revolutions in computing hardware and software have brought about an age where robots and people will be able to peacefully and safely co-exist in the same...

  4. Commanding and Planning for Robots in Space Operations

    Data.gov (United States)

    National Aeronautics and Space Administration — Autonomous and semi-autonomous systems like unmanned spacecraft or robotic vehicles have filled critical roles in NASA's great successes, surviving the harsh...

  5. Interactive Learning Environment for Bio-Inspired Optimization Algorithms for UAV Path Planning

    Science.gov (United States)

    Duan, Haibin; Li, Pei; Shi, Yuhui; Zhang, Xiangyin; Sun, Changhao

    2015-01-01

    This paper describes the development of BOLE, a MATLAB-based interactive learning environment, that facilitates the process of learning bio-inspired optimization algorithms, and that is dedicated exclusively to unmanned aerial vehicle path planning. As a complement to conventional teaching methods, BOLE is designed to help students consolidate the…

  6. Hybrid path planning for non-holonomic autonomous vehicles: An experimental evaluation

    NARCIS (Netherlands)

    Esposto, F.; Goos, J.; Teerhuis, A.; Alirezaei, M.

    2017-01-01

    Path planning of an autonomous vehicle as a non-holonomic system is an essential part for many automated driving applications. Parking a car into a parking lot and maneuvering it through a narrow corridor would be a common driving scenarios in an urban environment. In this study a hybrid approach

  7. Complete coverage path planning of a random polygon - A FroboMind component

    DEFF Research Database (Denmark)

    Aslund, Sebastian; Jensen, Kjeld; Jørgensen, Rasmus Nyholm

    solution where all the steps in the process is included: Segmentation of a data set, creation of a configuration space, decomposition of a polygon, global and local path planning. To achieve this, a series of known algorithms are used including some tweaks and improvements to create a solid foundation...

  8. Robotics

    International Nuclear Information System (INIS)

    Scheide, A.W.

    1983-01-01

    This article reviews some of the technical areas and history associated with robotics, provides information relative to the formation of a Robotics Industry Committee within the Industry Applications Society (IAS), and describes how all activities relating to robotics will be coordinated within the IEEE. Industrial robots are being used for material handling, processes such as coating and arc welding, and some mechanical and electronics assembly. An industrial robot is defined as a programmable, multifunctional manipulator designed to move material, parts, tools, or specialized devices through variable programmed motions for a variety of tasks. The initial focus of the Robotics Industry Committee will be on the application of robotics systems to the various industries that are represented within the IAS

  9. Robot engineering

    International Nuclear Information System (INIS)

    Jung, Seul

    2006-02-01

    This book deals with robot engineering, giving descriptions of robot's history, current tendency of robot field, work and characteristic of industrial robot, essential merit and vector, application of matrix, analysis of basic vector, expression of Denavit-Hartenberg, robot kinematics such as forward kinematics, inverse kinematics, cases of MATLAB program, and motion kinematics, robot kinetics like moment of inertia, centrifugal force and coriolis power, and Euler-Lagrangian equation course plan, SIMULINK position control of robots.

  10. Robot engineering

    Energy Technology Data Exchange (ETDEWEB)

    Jung, Seul

    2006-02-15

    This book deals with robot engineering, giving descriptions of robot's history, current tendency of robot field, work and characteristic of industrial robot, essential merit and vector, application of matrix, analysis of basic vector, expression of Denavit-Hartenberg, robot kinematics such as forward kinematics, inverse kinematics, cases of MATLAB program, and motion kinematics, robot kinetics like moment of inertia, centrifugal force and coriolis power, and Euler-Lagrangian equation course plan, SIMULINK position control of robots.

  11. A neural network-based exploratory learning and motor planning system for co-robots

    Directory of Open Access Journals (Sweden)

    Byron V Galbraith

    2015-07-01

    Full Text Available Collaborative robots, or co-robots, are semi-autonomous robotic agents designed to work alongside humans in shared workspaces. To be effective, co-robots require the ability to respond and adapt to dynamic scenarios encountered in natural environments. One way to achieve this is through exploratory learning, or learning by doing, an unsupervised method in which co-robots are able to build an internal model for motor planning and coordination based on real-time sensory inputs. In this paper, we present an adaptive neural network-based system for co-robot control that employs exploratory learning to achieve the coordinated motor planning needed to navigate toward, reach for, and grasp distant objects. To validate this system we used the 11-degrees-of-freedom RoPro Calliope mobile robot. Through motor babbling of its wheels and arm, the Calliope learned how to relate visual and proprioceptive information to achieve hand-eye-body coordination. By continually evaluating sensory inputs and externally provided goal directives, the Calliope was then able to autonomously select the appropriate wheel and joint velocities needed to perform its assigned task, such as following a moving target or retrieving an indicated object.

  12. A neural network-based exploratory learning and motor planning system for co-robots.

    Science.gov (United States)

    Galbraith, Byron V; Guenther, Frank H; Versace, Massimiliano

    2015-01-01

    Collaborative robots, or co-robots, are semi-autonomous robotic agents designed to work alongside humans in shared workspaces. To be effective, co-robots require the ability to respond and adapt to dynamic scenarios encountered in natural environments. One way to achieve this is through exploratory learning, or "learning by doing," an unsupervised method in which co-robots are able to build an internal model for motor planning and coordination based on real-time sensory inputs. In this paper, we present an adaptive neural network-based system for co-robot control that employs exploratory learning to achieve the coordinated motor planning needed to navigate toward, reach for, and grasp distant objects. To validate this system we used the 11-degrees-of-freedom RoPro Calliope mobile robot. Through motor babbling of its wheels and arm, the Calliope learned how to relate visual and proprioceptive information to achieve hand-eye-body coordination. By continually evaluating sensory inputs and externally provided goal directives, the Calliope was then able to autonomously select the appropriate wheel and joint velocities needed to perform its assigned task, such as following a moving target or retrieving an indicated object.

  13. Energy-Aware Path Planning for UAS Persistent Sampling and Surveillance

    Science.gov (United States)

    Shaw-Cortez, Wenceslao

    The focus of this work is to develop an energy-aware path planning algorithm that maximizes UAS endurance, while performing sampling and surveillance missions in a known, stationary wind environment. The energy-aware aspect is specifically tailored to extract energy from the wind to reduce thrust use, thereby increasing aircraft endurance. Wind energy extraction is performed by static soaring and dynamic soaring. Static soaring involves using upward wind currents to increase altitude and potential energy. Dynamic soaring involves taking advantage of wind gradients to exchange potential and kinetic energy. The path planning algorithm developed in this work uses optimization to combine these soaring trajectories with the overarching sampling and surveillance mission. The path planning algorithm uses a simplified aircraft model to tractably optimize soaring trajectories. This aircraft model is presented and along with the derivation of the equations of motion. A nonlinear program is used to create the soaring trajectories based on a given optimization problem. This optimization problem is defined using a heuristic decision tree, which defines appropriate problems given a sampling and surveillance mission and a wind model. Simulations are performed to assess the path planning algorithm. The results are used to identify properties of soaring trajectories as well as to determine what wind conditions support minimal thrust soaring. Additional results show how the path planning algorithm can be tuned between maximizing aircraft endurance and performing the sampling and surveillance mission. A means of trajectory stitching is demonstrated to show how the periodic soaring segments can be combined together to provide a full solution to an infinite/long horizon problem.

  14. Tuning Bacterial Hydrodynamics with Magnetic Fields: A Path to Bacterial Robotics

    Science.gov (United States)

    Pierce, Christopher; Mumper, Eric; Brangham, Jack; Wijesinghe, Hiran; Lower, Stephen; Lower, Brian; Yang, Fengyuan; Sooryakumar, Ratnasingham

    Magnetotactic Bacteria (MTB) are a group of motile prokaryotes that synthesize chains of lipid-bound, magnetic nano-particles. In this study, the innate magnetism of these flagellated swimmers is exploited to explore their hydrodynamics near confining surfaces, using the magnetic field as a tuning parameter. With weak (Gauss), uniform, external, magnetic ?elds and the field gradients arising from micro-magnetic surface patterns, the relative strength of hydrodynamic, magnetic and ?agellar force components is tuned through magnetic control of the bacteria's orientation and position. In addition to direct measurement of several hydrodynamic quantities related to the motility of individual cells, their tunable dynamics reveal a number of novel, highly controllable swimming behaviors with potential value in micro-robotics applications. Specifically, the experiments permit the MTB cells to be directed along parallel or divergent trajectories, suppress their flagellar forces through magnetic means, and induce transitions between planar, circulating trajectories and drifting, vertically oriented ``top-like'' motion. The implications of the work for fundamental hydrodynamics research as well as bacterially driven robotics applications will be discussed.

  15. Neural Networks in Mobile Robot Motion

    Directory of Open Access Journals (Sweden)

    Danica Janglová

    2004-03-01

    Full Text Available This paper deals with a path planning and intelligent control of an autonomous robot which should move safely in partially structured environment. This environment may involve any number of obstacles of arbitrary shape and size; some of them are allowed to move. We describe our approach to solving the motion-planning problem in mobile robot control using neural networks-based technique. Our method of the construction of a collision-free path for moving robot among obstacles is based on two neural networks. The first neural network is used to determine the “free” space using ultrasound range finder data. The second neural network “finds” a safe direction for the next robot section of the path in the workspace while avoiding the nearest obstacles. Simulation examples of generated path with proposed techniques will be presented.

  16. A Dynamic Hidden Forwarding Path Planning Method Based on Improved Q-Learning in SDN Environments

    Directory of Open Access Journals (Sweden)

    Yun Chen

    2018-01-01

    Full Text Available Currently, many methods are available to improve the target network’s security. The vast majority of them cannot obtain an optimal attack path and interdict it dynamically and conveniently. Almost all defense strategies aim to repair known vulnerabilities or limit services in target network to improve security of network. These methods cannot response to the attacks in real-time because sometimes they need to wait for manufacturers releasing corresponding countermeasures to repair vulnerabilities. In this paper, we propose an improved Q-learning algorithm to plan an optimal attack path directly and automatically. Based on this path, we use software-defined network (SDN to adjust routing paths and create hidden forwarding paths dynamically to filter vicious attack requests. Compared to other machine learning algorithms, Q-learning only needs to input the target state to its agents, which can avoid early complex training process. We improve Q-learning algorithm in two aspects. First, a reward function based on the weights of hosts and attack success rates of vulnerabilities is proposed, which can adapt to different network topologies precisely. Second, we remove the actions and merge them into every state that reduces complexity from O(N3 to O(N2. In experiments, after deploying hidden forwarding paths, the security of target network is boosted significantly without having to repair network vulnerabilities immediately.

  17. Adaptive scallop height tool path generation for robot-based incremental sheet metal forming

    Science.gov (United States)

    Seim, Patrick; Möllensiep, Dennis; Störkle, Denis Daniel; Thyssen, Lars; Kuhlenkötter, Bernd

    2016-10-01

    Incremental sheet metal forming is an emerging process for the production of individualized products or prototypes in low batch sizes and with short times to market. In these processes, the desired shape is produced by the incremental inward motion of the workpiece-independent forming tool in depth direction and its movement along the contour in lateral direction. Based on this shape production, the tool path generation is a key factor on e.g. the resulting geometric accuracy, the resulting surface quality, and the working time. This paper presents an innovative tool path generation based on a commercial milling CAM package considering the surface quality and working time. This approach offers the ability to define a specific scallop height as an indicator of the surface quality for specific faces of a component. Moreover, it decreases the required working time for the production of the entire component compared to the use of a commercial software package without this adaptive approach. Different forming experiments have been performed to verify the newly developed tool path generation. Mainly, this approach serves to solve the existing conflict of combining the working time and the surface quality within the process of incremental sheet metal forming.

  18. Robust online belief space planning in changing environments: Application to physical mobile robots

    KAUST Repository

    Agha-mohammadi, Ali-akbar

    2014-05-01

    © 2014 IEEE. Motion planning in belief space (under motion and sensing uncertainty) is a challenging problem due to the computational intractability of its exact solution. The Feedback-based Information RoadMap (FIRM) framework made an important theoretical step toward enabling roadmap-based planning in belief space and provided a computationally tractable version of belief space planning. However, there are still challenges in applying belief space planners to physical systems, such as the discrepancy between computational models and real physical models. In this paper, we propose a dynamic replanning scheme in belief space to address such challenges. Moreover, we present techniques to cope with changes in the environment (e.g., changes in the obstacle map), as well as unforeseen large deviations in the robot\\'s location (e.g., the kidnapped robot problem). We then utilize these techniques to implement the first online replanning scheme in belief space on a physical mobile robot that is robust to changes in the environment and large disturbances. This method demonstrates that belief space planning is a practical tool for robot motion planning.

  19. Development and Field Testing of the FootFall Planning System for the ATHLETE Robots

    Science.gov (United States)

    SunSpiral, Vytas; Wheeler, D. W.; Chavez-Clementa, Daniel; Mittman, David

    2011-01-01

    The FootFall Planning System is a ground-based planning and decision support system designed to facilitate the control of walking activities for the ATHLETE (All-Terrain Hex-Limbed Extra-Terrestrial Explorer) family of robots. ATHLETE was developed at NASA's Jet Propulsion Laboratory (JPL) and is a large six-legged robot designed to serve multiple roles during manned and unmanned missions to the Moon; its roles include transportation, construction and exploration. Over the four years from 2006 through 2010 the FootFall Planning System was developed and adapted to two generations of the ATHLETE robots and tested at two analog field sites (the Human Robotic Systems Project's Integrated Field Test at Moses Lake, Washington, June 2008, and the Desert Research and Technology Studies (D-RATS), held at Black Point Lava Flow in Arizona, September 2010). Having 42 degrees of kinematic freedom, standing to a maximum height of just over 4 meters, and having a payload capacity of 450 kg in Earth gravity, the current version of the ATHLETE robot is a uniquely complex system. A central challenge to this work was the compliance of the high-DOF (Degree Of Freedom) robot, especially the compliance of the wheels, which affected many aspects of statically-stable walking. This paper will review the history of the development of the FootFall system, sharing design decisions, field test experiences, and the lessons learned concerning compliance and self-awareness.

  20. Task Assignment and Path Planning for Multiple Autonomous Underwater Vehicles Using 3D Dubins Curves †.

    Science.gov (United States)

    Cai, Wenyu; Zhang, Meiyan; Zheng, Yahong Rosa

    2017-07-11

    This paper investigates the task assignment and path planning problem for multiple AUVs in three dimensional (3D) underwater wireless sensor networks where nonholonomic motion constraints of underwater AUVs in 3D space are considered. The multi-target task assignment and path planning problem is modeled by the Multiple Traveling Sales Person (MTSP) problem and the Genetic Algorithm (GA) is used to solve the MTSP problem with Euclidean distance as the cost function and the Tour Hop Balance (THB) or Tour Length Balance (TLB) constraints as the stop criterion. The resulting tour sequences are mapped to 2D Dubins curves in the X - Y plane, and then interpolated linearly to obtain the Z coordinates. We demonstrate that the linear interpolation fails to achieve G 1 continuity in the 3D Dubins path for multiple targets. Therefore, the interpolated 3D Dubins curves are checked against the AUV dynamics constraint and the ones satisfying the constraint are accepted to finalize the 3D Dubins curve selection. Simulation results demonstrate that the integration of the 3D Dubins curve with the MTSP model is successful and effective for solving the 3D target assignment and path planning problem.

  1. Path Planning Method for UUV Homing and Docking in Movement Disorders Environment

    Directory of Open Access Journals (Sweden)

    Zheping Yan

    2014-01-01

    Full Text Available Path planning method for unmanned underwater vehicles (UUV homing and docking in movement disorders environment is proposed in this paper. Firstly, cost function is proposed for path planning. Then, a novel particle swarm optimization (NPSO is proposed and applied to find the waypoint with minimum value of cost function. Then, a strategy for UUV enters into the mother vessel with a fixed angle being proposed. Finally, the test function is introduced to analyze the performance of NPSO and compare with basic particle swarm optimization (BPSO, inertia weight particle swarm optimization (LWPSO, EPSO, and time-varying acceleration coefficient (TVAC. It has turned out that, for unimodal functions, NPSO performed better searching accuracy and stability than other algorithms, and, for multimodal functions, the performance of NPSO is similar to TVAC. Then, the simulation of UUV path planning is presented, and it showed that, with the strategy proposed in this paper, UUV can dodge obstacles and threats, and search for the efficiency path.

  2. Task Assignment and Path Planning for Multiple Autonomous Underwater Vehicles Using 3D Dubins Curves †

    Directory of Open Access Journals (Sweden)

    Wenyu Cai

    2017-07-01

    Full Text Available This paper investigates the task assignment and path planning problem for multiple AUVs in three dimensional (3D underwater wireless sensor networks where nonholonomic motion constraints of underwater AUVs in 3D space are considered. The multi-target task assignment and path planning problem is modeled by the Multiple Traveling Sales Person (MTSP problem and the Genetic Algorithm (GA is used to solve the MTSP problem with Euclidean distance as the cost function and the Tour Hop Balance (THB or Tour Length Balance (TLB constraints as the stop criterion. The resulting tour sequences are mapped to 2D Dubins curves in the X − Y plane, and then interpolated linearly to obtain the Z coordinates. We demonstrate that the linear interpolation fails to achieve G 1 continuity in the 3D Dubins path for multiple targets. Therefore, the interpolated 3D Dubins curves are checked against the AUV dynamics constraint and the ones satisfying the constraint are accepted to finalize the 3D Dubins curve selection. Simulation results demonstrate that the integration of the 3D Dubins curve with the MTSP model is successful and effective for solving the 3D target assignment and path planning problem.

  3. PRELIMINARY PROJECT PLAN FOR LANSCE INTEGRATED FLIGHT PATHS 11A, 11B, 12, and 13

    International Nuclear Information System (INIS)

    Bultman, D. H.; Weinacht, D.

    2000-01-01

    This Preliminary Project Plan Summarizes the Technical, Cost, and Schedule baselines for an integrated approach to developing several flight paths at the Manual Lujan Jr. Neutron Scattering Center at the Los Alamos Neutron Science Center. For example, the cost estimate is intended to serve only as a rough order of magnitude assessment of the cost that might be incurred as the flight paths are developed. Further refinement of the requirements and interfaces for each beamline will permit additional refinement and confidence in the accuracy of all three baselines (Technical, Cost, Schedule)

  4. Robotics

    Energy Technology Data Exchange (ETDEWEB)

    Lorino, P; Altwegg, J M

    1985-05-01

    This article, which is aimed at the general reader, examines latest developments in, and the role of, modern robotics. The 7 main sections are sub-divided into 27 papers presented by 30 authors. The sections are as follows: 1) The role of robotics, 2) Robotics in the business world and what it can offer, 3) Study and development, 4) Utilisation, 5) Wages, 6) Conditions for success, and 7) Technological dynamics.

  5. Learning-based Nonlinear Model Predictive Control to Improve Vision-based Mobile Robot Path Tracking

    Science.gov (United States)

    2015-07-01

    corresponding cost function to be J(u) = ( xd − x)TQx ( xd − x) + uTRu, (20) where Qx ∈ RKnx×Knx is positive semi-definite, R and u are as in (3), xd is a...sequence of desired states, xd = ( xd ,k+1, . . . , xd ,k+K), x is a sequence of predicted states, x = (xk+1, . . . ,xk+K), and K is the given prediction...vact,k−1+b, ωact,k−1+b), based ωk θk vk xd ,i−1 xd ,i xd ,i+1 xk yk Figure 5: Definition of the robot velocities, vk and ωk, and three pose variables

  6. 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

  7. Design and implementation of motion planning of inspection and maintenance robot for ITER-like vessel

    Energy Technology Data Exchange (ETDEWEB)

    Wang, Hesheng; Lai, Yinping [Department of Automation, Shanghai Jiao Tong University, Shanghai 200240 (China); Key Laboratory of System Control and Information Processing, Ministry of Education of China (China); Chen, Weidong, E-mail: wdchen@sjtu.edu.cn [Department of Automation, Shanghai Jiao Tong University, Shanghai 200240 (China); Key Laboratory of System Control and Information Processing, Ministry of Education of China (China); Cao, Qixin [Institute of Robotics, Shanghai Jiao Tong University, Shanghai 200240 (China)

    2015-12-15

    Robot motion planning is a fundamental problem to ensure the robot executing the task without clashes, fast and accurately in a special environment. In this paper, a motion planning of a 12 DOFs remote handling robot used for inspecting the working state of the ITER-like vessel and maintaining key device components is proposed and implemented. Firstly, the forward and inverse kinematics are given by analytic method. The work space and posture space of this manipulator are both considered. Then the motion planning is divided into three stages: coming out of the cassette mover, moving along the in-vessel center line, and inspecting the D-shape section. Lastly, the result of experiments verified the performance of the motion design method. In addition, the task of unscrewing/screwing the screw demonstrated the feasibility of system in function.

  8. Coordinated trajectory planning of dual-arm space robot using constrained particle swarm optimization

    Science.gov (United States)

    Wang, Mingming; Luo, Jianjun; Yuan, Jianping; Walter, Ulrich

    2018-05-01

    Application of the multi-arm space robot will be more effective than single arm especially when the target is tumbling. This paper investigates the application of particle swarm optimization (PSO) strategy to coordinated trajectory planning of the dual-arm space robot in free-floating mode. In order to overcome the dynamics singularities issue, the direct kinematics equations in conjunction with constrained PSO are employed for coordinated trajectory planning of dual-arm space robot. The joint trajectories are parametrized with Bézier curve to simplify the calculation. Constrained PSO scheme with adaptive inertia weight is implemented to find the optimal solution of joint trajectories while specific objectives and imposed constraints are satisfied. The proposed method is not sensitive to the singularity issue due to the application of forward kinematic equations. Simulation results are presented for coordinated trajectory planning of two kinematically redundant manipulators mounted on a free-floating spacecraft and demonstrate the effectiveness of the proposed method.

  9. A novel algorithm for solving optimal path planning problems based on parametrization method and fuzzy aggregation

    International Nuclear Information System (INIS)

    Zamirian, M.; Kamyad, A.V.; Farahi, M.H.

    2009-01-01

    In this Letter a new approach for solving optimal path planning problems for a single rigid and free moving object in a two and three dimensional space in the presence of stationary or moving obstacles is presented. In this approach the path planning problems have some incompatible objectives such as the length of path that must be minimized, the distance between the path and obstacles that must be maximized and etc., then a multi-objective dynamic optimization problem (MODOP) is achieved. Considering the imprecise nature of decision maker's (DM) judgment, these multiple objectives are viewed as fuzzy variables. By determining intervals for the values of these fuzzy variables, flexible monotonic decreasing or increasing membership functions are determined as the degrees of satisfaction of these fuzzy variables on their intervals. Then, the optimal path planning policy is searched by maximizing the aggregated fuzzy decision values, resulting in a fuzzy multi-objective dynamic optimization problem (FMODOP). Using a suitable t-norm, the FMODOP is converted into a non-linear dynamic optimization problem (NLDOP). By using parametrization method and some calculations, the NLDOP is converted into the sequence of conventional non-linear programming problems (NLPP). It is proved that the solution of this sequence of the NLPPs tends to a Pareto optimal solution which, among other Pareto optimal solutions, has the best satisfaction of DM for the MODOP. Finally, the above procedure as a novel algorithm integrating parametrization method and fuzzy aggregation to solve the MODOP is proposed. Efficiency of our approach is confirmed by some numerical examples.

  10. Optimal Orientation Planning and Control Deviation Estimation on FAST Cable-Driven Parallel Robot

    Directory of Open Access Journals (Sweden)

    Hui Li

    2014-03-01

    Full Text Available The paper is devoted theoretically to the optimal orientation planning and control deviation estimation of FAST cable-driven parallel robot. Regarding the robot characteristics, the solutions are obtained from two constrained optimizations, both of which are based on the equilibrium of the cabin and the attention on force allocation among 6 cable tensions. A kind of control algorithm is proposed based on the position and force feedbacks. The analysis proves that the orientation control depends on force feedback and the optimal tension solution corresponding to the planned orientation. Finally, the estimation of orientation deviation is given under the limit range of tension errors.

  11. Evaluation of a New Backtrack Free Path Planning Algorithm for Manipulators

    Science.gov (United States)

    Islam, Md. Nazrul; Tamura, Shinsuke; Murata, Tomonari; Yanase, Tatsuro

    This paper evaluates a newly proposed backtrack free path planning algorithm (BFA) for manipulators. BFA is an exact algorithm, i.e. it is resolution complete. Different from existing resolution complete algorithms, its computation time and memory space are proportional to the number of arms. Therefore paths can be calculated within practical and predetermined time even for manipulators with many arms, and it becomes possible to plan complicated motions of multi-arm manipulators in fully automated environments. The performance of BFA is evaluated for 2-dimensional environments while changing the number of arms and obstacle placements. Its performance under locus and attitude constraints is also evaluated. Evaluation results show that the computation volume of the algorithm is almost the same as the theoretical one, i.e. it increases linearly with the number of arms even in complicated environments. Moreover BFA achieves the constant performance independent of environments.

  12. An Efficient Energy Constraint Based UAV Path Planning for Search and Coverage

    Directory of Open Access Journals (Sweden)

    German Gramajo

    2017-01-01

    Full Text Available A path planning strategy for a search and coverage mission for a small UAV that maximizes the area covered based on stored energy and maneuverability constraints is presented. The proposed formulation has a high level of autonomy, without requiring an exact choice of optimization parameters, and is appropriate for real-time implementation. The computed trajectory maximizes spatial coverage while closely satisfying terminal constraints on the position of the vehicle and minimizing the time of flight. Comparisons of this formulation to a path planning algorithm based on those with time constraint show equivalent coverage performance but improvement in prediction of overall mission duration and accuracy of the terminal position of the vehicle.

  13. An Efficient Energy Constraint Based UAV Path Planning for Search and Coverage

    OpenAIRE

    Gramajo, German; Shankar, Praveen

    2017-01-01

    A path planning strategy for a search and coverage mission for a small UAV that maximizes the area covered based on stored energy and maneuverability constraints is presented. The proposed formulation has a high level of autonomy, without requiring an exact choice of optimization parameters, and is appropriate for real-time implementation. The computed trajectory maximizes spatial coverage while closely satisfying terminal constraints on the position of the vehicle and minimizing the time of ...

  14. Prediction of Path Deviation in Robot Based Incremental Sheet Metal Forming by Means of a New Solid-Shell Finite Element Technology and a Finite Elastoplastic Model with Combined Hardening

    Science.gov (United States)

    Kiliclar, Yalin; Laurischkat, Roman; Vladimirov, Ivaylo N.; Reese, Stefanie

    2011-08-01

    The presented project deals with a robot based incremental sheet metal forming process, which is called roboforming and has been developed at the Chair of Production Systems. It is characterized by flexible shaping using a freely programmable path-synchronous movement of two industrial robots. The final shape is produced by the incremental infeed of the forming tool in depth direction and its movement along the part contour in lateral direction. However, the resulting geometries formed in roboforming deviate several millimeters from the reference geometry. This results from the compliance of the involved machine structures and the springback effects of the workpiece. The project aims to predict these deviations caused by resiliences and to carry out a compensative path planning based on this prediction. Therefore a planning tool is implemented which compensates the robots's compliance and the springback effects of the sheet metal. The forming process is simulated by means of a finite element analysis using a material model developed at the Institute of Applied Mechanics (IFAM). It is based on the multiplicative split of the deformation gradient in the context of hyperelasticity and combines nonlinear kinematic and isotropic hardening. Low-order finite elements used to simulate thin sheet structures, such as used for the experiments, have the major problem of locking, a nonphysical stiffening effect. For an efficient finite element analysis a special solid-shell finite element formulation based on reduced integration with hourglass stabilization has been developed. To circumvent different locking effects, the enhanced assumed strain (EAS) and the assumed natural strain (ANS) concepts are included in this formulation. Having such powerful tools available we obtain more accurate geometries.

  15. Task Allocation and Path Planning for Collaborative Autonomous Underwater Vehicles Operating through an Underwater Acoustic Network

    Directory of Open Access Journals (Sweden)

    Yueyue Deng

    2013-01-01

    Full Text Available Dynamic and unstructured multiple cooperative autonomous underwater vehicle (AUV missions are highly complex operations, and task allocation and path planning are made significantly more challenging under realistic underwater acoustic communication constraints. This paper presents a solution for the task allocation and path planning for multiple AUVs under marginal acoustic communication conditions: a location-aided task allocation framework (LAAF algorithm for multitarget task assignment and the grid-based multiobjective optimal programming (GMOOP mathematical model for finding an optimal vehicle command decision given a set of objectives and constraints. Both the LAAF and GMOOP algorithms are well suited in poor acoustic network condition and dynamic environment. Our research is based on an existing mobile ad hoc network underwater acoustic simulator and blind flooding routing protocol. Simulation results demonstrate that the location-aided auction strategy performs significantly better than the well-accepted auction algorithm developed by Bertsekas in terms of task-allocation time and network bandwidth consumption. We also demonstrate that the GMOOP path-planning technique provides an efficient method for executing multiobjective tasks by cooperative agents with limited communication capabilities. This is in contrast to existing multiobjective action selection methods that are limited to networks where constant, reliable communication is assumed to be available.

  16. Artificial Intelligence techniques for mission planning for mobile robots

    International Nuclear Information System (INIS)

    Martinez, J.M.; Nomine, J.P.

    1990-01-01

    This work focuses on Spatial Modelization Techniques and on Control Software Architectures, in order to deal efficiently with the Navigation and Perception problems encountered in Mobile Autonomous Robotics. After a brief survey of the current various approaches for these techniques, we expose ongoing simulation works for a specific mission in robotics. Studies in progress used for Spatial Reasoning are based on new approaches combining Artificial Intelligence and Geometrical techniques. These methods deal with the problem of environment modelization using three types of models: geometrical topological and semantic models at different levels. The decision making processes of control are presented as the result of cooperation between a group of decentralized agents that communicate by sending messages. (author)

  17. Project ROBOTICS 2008

    DEFF Research Database (Denmark)

    Conrad, Finn

    Mathematical modelling of Alto Robot, direct- and inverse kinematic transformation,simulation and path control applying MATLAB/SIMULINK.......Mathematical modelling of Alto Robot, direct- and inverse kinematic transformation,simulation and path control applying MATLAB/SIMULINK....

  18. Automated Planning Enables Complex Protocols on Liquid-Handling Robots.

    Science.gov (United States)

    Whitehead, Ellis; Rudolf, Fabian; Kaltenbach, Hans-Michael; Stelling, Jörg

    2018-03-16

    Robotic automation in synthetic biology is especially relevant for liquid handling to facilitate complex experiments. However, research tasks that are not highly standardized are still rarely automated in practice. Two main reasons for this are the substantial investments required to translate molecular biological protocols into robot programs, and the fact that the resulting programs are often too specific to be easily reused and shared. Recent developments of standardized protocols and dedicated programming languages for liquid-handling operations addressed some aspects of ease-of-use and portability of protocols. However, either they focus on simplicity, at the expense of enabling complex protocols, or they entail detailed programming, with corresponding skills and efforts required from the users. To reconcile these trade-offs, we developed Roboliq, a software system that uses artificial intelligence (AI) methods to integrate (i) generic formal, yet intuitive, protocol descriptions, (ii) complete, but usually hidden, programming capabilities, and (iii) user-system interactions to automatically generate executable, optimized robot programs. Roboliq also enables high-level specifications of complex tasks with conditional execution. To demonstrate the system's benefits for experiments that are difficult to perform manually because of their complexity, duration, or time-critical nature, we present three proof-of-principle applications for the reproducible, quantitative characterization of GFP variants.

  19. PAIR'14 / PAIR'15 STUDENT CONFERENCES ON PLANNING IN ARTIFICIAL INTELLIGENCE AND ROBOTICS

    Directory of Open Access Journals (Sweden)

    Editorial Foreword

    2015-12-01

    Full Text Available Dear Readerthe original idea of the student conference on “Planning in Artificial Intelligence and Robotics” (PAIR is to join young researchers from particular laboratories in Czech Republic, where planning problems are investigated from artificial intelligence (AI or robotics points of view. The first year of PAIR has been organized at the Dept. of Computer Science, Faculty Electrical Engineering, Czech Technical University in 2014.At PAIR 2014, laboratories from Prague and Brno were presented. In particular, students and researchers from Charles University, Czech Technical University in Prague, Brno University of Technology, and Central European Institute of Technology participated at the event. Beside an introduction of the particular research groups and their topics, students presented contributions on their current research results. Ten papers were presented on topics ranging from domain–independent planning, trajectory planning to applications for unmanned aerial and legged robots. This first event provides us an initial experience with the community of young researchers in Czech Republic that are working planning in robotic or AI. Based on the success of PAIR 2014, we decided to continue with our effort to establish a suitable fora for students that are geographically very close, but usually do not meet, because of participation on different Robotics and AI events.The second student conference on Planning in Artificial Intelligence and Robotics (PAIR 2015 successfully continues the tradition of the first year of the conference organized in Prague. This year, the conference was collocated with 10th anniversary of RoboTour contest in Písek. This format enable us to extend the impact of the PAIR conference and improve the visibility of the growing student community. The conference reached a good amount of interesting papers focused on image processing for mobile robots, swarm control, driving simulation, robot control, or domain

  20. Path planning for persistent surveillance applications using fixed-wing unmanned aerial vehicles

    Science.gov (United States)

    Keller, James F.

    This thesis addresses coordinated path planning for fixed-wing Unmanned Aerial Vehicles (UAVs) engaged in persistent surveillance missions. While uniquely suited to this mission, fixed wing vehicles have maneuver constraints that can limit their performance in this role. Current technology vehicles are capable of long duration flight with a minimal acoustic footprint while carrying an array of cameras and sensors. Both military tactical and civilian safety applications can benefit from this technology. We make three main contributions: C1 A sequential path planner that generates a C 2 flight plan to persistently acquire a covering set of data over a user designated area of interest. The planner features the following innovations: • A path length abstraction that embeds kino-dynamic motion constraints to estimate feasible path length. • A Traveling Salesman-type planner to generate a covering set route based on the path length abstraction. • A smooth path generator that provides C 2 routes that satisfy user specified curvature constraints. C2 A set of algorithms to coordinate multiple UAVs, including mission commencement from arbitrary locations to the start of a coordinated mission and de-confliction of paths to avoid collisions with other vehicles and fixed obstacles. C3 A numerically robust toolbox of spline-based algorithms tailored for vehicle routing validated through flight test experiments on multiple platforms. A variety of tests and platforms are discussed. The algorithms presented are based on a technical approach with approximately equal emphasis on analysis, computation, dynamic simulation, and flight test experimentation. Our planner (C1) directly takes into account vehicle maneuverability and agility constraints that could otherwise render simple solutions infeasible. This is especially important when surveillance objectives elevate the importance of optimized paths. Researchers have developed a diverse range of solutions for persistent

  1. Integrated flight path planning system and flight control system for unmanned helicopters.

    Science.gov (United States)

    Jan, Shau Shiun; Lin, Yu Hsiang

    2011-01-01

    This paper focuses on the design of an integrated navigation and guidance system for unmanned helicopters. The integrated navigation system comprises two systems: the Flight Path Planning System (FPPS) and the Flight Control System (FCS). The FPPS finds the shortest flight path by the A-Star (A*) algorithm in an adaptive manner for different flight conditions, and the FPPS can add a forbidden zone to stop the unmanned helicopter from crossing over into dangerous areas. In this paper, the FPPS computation time is reduced by the multi-resolution scheme, and the flight path quality is improved by the path smoothing methods. Meanwhile, the FCS includes the fuzzy inference systems (FISs) based on the fuzzy logic. By using expert knowledge and experience to train the FIS, the controller can operate the unmanned helicopter without dynamic models. The integrated system of the FPPS and the FCS is aimed at providing navigation and guidance to the mission destination and it is implemented by coupling the flight simulation software, X-Plane, and the computing software, MATLAB. Simulations are performed and shown in real time three-dimensional animations. Finally, the integrated system is demonstrated to work successfully in controlling the unmanned helicopter to operate in various terrains of a digital elevation model (DEM).

  2. Integrated Flight Path Planning System and Flight Control System for Unmanned Helicopters

    Science.gov (United States)

    Jan, Shau Shiun; Lin, Yu Hsiang

    2011-01-01

    This paper focuses on the design of an integrated navigation and guidance system for unmanned helicopters. The integrated navigation system comprises two systems: the Flight Path Planning System (FPPS) and the Flight Control System (FCS). The FPPS finds the shortest flight path by the A-Star (A*) algorithm in an adaptive manner for different flight conditions, and the FPPS can add a forbidden zone to stop the unmanned helicopter from crossing over into dangerous areas. In this paper, the FPPS computation time is reduced by the multi-resolution scheme, and the flight path quality is improved by the path smoothing methods. Meanwhile, the FCS includes the fuzzy inference systems (FISs) based on the fuzzy logic. By using expert knowledge and experience to train the FIS, the controller can operate the unmanned helicopter without dynamic models. The integrated system of the FPPS and the FCS is aimed at providing navigation and guidance to the mission destination and it is implemented by coupling the flight simulation software, X-Plane, and the computing software, MATLAB. Simulations are performed and shown in real time three-dimensional animations. Finally, the integrated system is demonstrated to work successfully in controlling the unmanned helicopter to operate in various terrains of a digital elevation model (DEM). PMID:22164029

  3. A Framework for Multi-Robot Motion Planning from Temporal Logic Specifications

    DEFF Research Database (Denmark)

    Koo, T. John; Li, Rongqing; Quottrup, Michael Melholt

    2012-01-01

    -time Temporal Logic, Computation Tree Logic, and -calculus can be preserved. Motion planning can then be performed at a discrete level by considering the parallel composition of discrete abstractions of the robots with a requirement specification given in a suitable temporal logic. The bisimilarity ensures...

  4. Multi-optimization Criteria-based Robot Behavioral Adaptability and Motion Planning

    International Nuclear Information System (INIS)

    Pin, Francois G.

    2003-01-01

    Our overall objective is the development of a generalized methodology and code for the automated generation of the kinematics equations of robots and for the analytical solution of their motion planning equations subject to time-varying constraints, behavioral objectives and modular configuration

  5. Multi-optimization Criteria-based Robot Behavioral Adaptability and Motion Planning

    International Nuclear Information System (INIS)

    Pin, Grancois G.

    2004-01-01

    Our overall objective is the development of a generalized methodology and code for the automated generation of the kinematics equations of robots and for the analytical solution of their motion planning equations subject to time-varying constraints, behavioral objectives, and modular configuration

  6. Robust path planning for flexible needle insertion using Markov decision processes.

    Science.gov (United States)

    Tan, Xiaoyu; Yu, Pengqian; Lim, Kah-Bin; Chui, Chee-Kong

    2018-05-11

    Flexible needle has the potential to accurately navigate to a treatment region in the least invasive manner. We propose a new planning method using Markov decision processes (MDPs) for flexible needle navigation that can perform robust path planning and steering under the circumstance of complex tissue-needle interactions. This method enhances the robustness of flexible needle steering from three different perspectives. First, the method considers the problem caused by soft tissue deformation. The method then resolves the common needle penetration failure caused by patterns of targets, while the last solution addresses the uncertainty issues in flexible needle motion due to complex and unpredictable tissue-needle interaction. Computer simulation and phantom experimental results show that the proposed method can perform robust planning and generate a secure control policy for flexible needle steering. Compared with a traditional method using MDPs, the proposed method achieves higher accuracy and probability of success in avoiding obstacles under complicated and uncertain tissue-needle interactions. Future work will involve experiment with biological tissue in vivo. The proposed robust path planning method can securely steer flexible needle within soft phantom tissues and achieve high adaptability in computer simulation.

  7. An Improved Ant Colony Algorithm for Solving the Path Planning Problem of the Omnidirectional Mobile Vehicle

    Directory of Open Access Journals (Sweden)

    Jiang Zhao

    2016-01-01

    Full Text Available This paper presents an improved ant colony algorithm for the path planning of the omnidirectional mobile vehicle. The purpose of the improved ant colony algorithm is to design an appropriate route to connect the starting point and ending point of the environment with obstacles. Ant colony algorithm, which is used to solve the path planning problem, is improved according to the characteristics of the omnidirectional mobile vehicle. And in the improved algorithm, the nonuniform distribution of the initial pheromone and the selection strategy with direction play a very positive role in the path search. The coverage and updating strategy of pheromone is introduced to avoid repeated search reducing the effect of the number of ants on the performance of the algorithm. In addition, the pheromone evaporation coefficient is segmented and adjusted, which can effectively balance the convergence speed and search ability. Finally, this paper provides a theoretical basis for the improved ant colony algorithm by strict mathematical derivation, and some numerical simulations are also given to illustrate the effectiveness of the theoretical results.

  8. Patient-specific surgical simulator for the pre-operative planning of single-incision laparoscopic surgery with bimanual robots.

    Science.gov (United States)

    Turini, Giuseppe; Moglia, Andrea; Ferrari, Vincenzo; Ferrari, Mauro; Mosca, Franco

    2012-01-01

    The trend of surgical robotics is to follow the evolution of laparoscopy, which is now moving towards single-incision laparoscopic surgery. The main drawback of this approach is the limited maneuverability of the surgical tools. Promising solutions to improve the surgeon's dexterity are based on bimanual robots. However, since both robot arms are completely inserted into the patient's body, issues related to possible unwanted collisions with structures adjacent to the target organ may arise. This paper presents a simulator based on patient-specific data for the positioning and workspace evaluation of bimanual surgical robots in the pre-operative planning of single-incision laparoscopic surgery. The simulator, designed for the pre-operative planning of robotic laparoscopic interventions, was tested by five expert surgeons who evaluated its main functionalities and provided an overall rating for the system. The proposed system demonstrated good performance and usability, and was designed to integrate both present and future bimanual surgical robots.

  9. Time-optimal path planning in uncertain flow fields using ensemble method

    KAUST Repository

    Wang, Tong

    2016-01-06

    An ensemble-based approach is developed to conduct time-optimal path planning in unsteady ocean currents under uncertainty. We focus our attention on two-dimensional steady and unsteady uncertain flows, and adopt a sampling methodology that is well suited to operational forecasts, where a set deterministic predictions is used to model and quantify uncertainty in the predictions. In the operational setting, much about dynamics, topography and forcing of the ocean environment is uncertain, and as a result a single path produced by a model simulation has limited utility. To overcome this limitation, we rely on a finitesize ensemble of deterministic forecasts to quantify the impact of variability in the dynamics. The uncertainty of flow field is parametrized using a finite number of independent canonical random variables with known densities, and the ensemble is generated by sampling these variables. For each the resulting realizations of the uncertain current field, we predict the optimal path by solving a boundary value problem (BVP), based on the Pontryagin maximum principle. A family of backward-in-time trajectories starting at the end position is used to generate suitable initial values for the BVP solver. This allows us to examine and analyze the performance of sampling strategy, and develop insight into extensions dealing with regional or general circulation models. In particular, the ensemble method enables us to perform a statistical analysis of travel times, and consequently develop a path planning approach that accounts for these statistics. The proposed methodology is tested for a number of scenarios. We first validate our algorithms by reproducing simple canonical solutions, and then demonstrate our approach in more complex flow fields, including idealized, steady and unsteady double-gyre flows.

  10. Merge Fuzzy Visual Servoing and GPS-Based Planning to Obtain a Proper Navigation Behavior for a Small Crop-Inspection Robot.

    Science.gov (United States)

    Bengochea-Guevara, José M; Conesa-Muñoz, Jesus; Andújar, Dionisio; Ribeiro, Angela

    2016-02-24

    The concept of precision agriculture, which proposes farming management adapted to crop variability, has emerged in recent years. To effectively implement precision agriculture, data must be gathered from the field in an automated manner at minimal cost. In this study, a small autonomous field inspection vehicle was developed to minimise the impact of the scouting on the crop and soil compaction. The proposed approach integrates a camera with a GPS receiver to obtain a set of basic behaviours required of an autonomous mobile robot to inspect a crop field with full coverage. A path planner considered the field contour and the crop type to determine the best inspection route. An image-processing method capable of extracting the central crop row under uncontrolled lighting conditions in real time from images acquired with a reflex camera positioned on the front of the robot was developed. Two fuzzy controllers were also designed and developed to achieve vision-guided navigation. A method for detecting the end of a crop row using camera-acquired images was developed. In addition, manoeuvres necessary for the robot to change rows were established. These manoeuvres enabled the robot to autonomously cover the entire crop by following a previously established plan and without stepping on the crop row, which is an essential behaviour for covering crops such as maize without damaging them.

  11. Representation and Integration: Combining Robot Control, High-Level Planning, and Action Learning

    DEFF Research Database (Denmark)

    Petrick, Ronald; Kraft, Dirk; Mourao, Kira

    We describe an approach to integrated robot control, high-level planning, and action effect learning that attempts to overcome the representational difficulties that exist between these diverse areas. Our approach combines ideas from robot vision, knowledgelevel planning, and connectionist machine......-level action specifications, suitable for planning, from a robot’s interactions with the world. We present a detailed overview of our approach and show how it supports the learning of certain aspects of a high-level lepresentation from low-level world state information....... learning, and focuses on the representational needs of these components.We also make use of a simple representational unit called an instantiated state transition fragment (ISTF) and a related structure called an object-action complex (OAC). The goal of this work is a general approach for inducing high...

  12. Enroute flight-path planning - Cooperative performance of flight crews and knowledge-based systems

    Science.gov (United States)

    Smith, Philip J.; Mccoy, Elaine; Layton, Chuck; Galdes, Deb

    1989-01-01

    Interface design issues associated with the introduction of knowledge-based systems into the cockpit are discussed. Such issues include not only questions about display and control design, they also include deeper system design issues such as questions about the alternative roles and responsibilities of the flight crew and the computer system. In addition, the feasibility of using enroute flight path planning as a context for exploring such research questions is considered. In particular, the development of a prototyping shell that allows rapid design and study of alternative interfaces and system designs is discussed.

  13. Visibility-Based Goal Oriented Metrics and Application to Navigation and Path Planning Problems

    Science.gov (United States)

    2017-12-14

    Oriented Metrics and Application to Navigation and Path Planning Problems Report Term: 0-Other Email : ytsai@math.utexas.edu Distribution Statement: 1...error bounds that we have obtained. Report Date: 06-Dec-2017 INVESTIGATOR(S): Phone Number: 5122327757 Principal: Y Name: Yen-Hsi Tsai Email ...w1 w2 ◆ and ~z = ✓ z1 z2 ◆ . Then we can write D0 h (PN (xi,j)) = Rp (R+⌘)2+h2 + 1 2h (µ2w1 µ2z1) 0 µ2w2µ3z2 2h 0 ! . It follows that the non

  14. ON TRAVERSABILITY COST EVALUATION FROM PROPRIOCEPTIVE SENSING FOR A CRAWLING ROBOT

    Directory of Open Access Journals (Sweden)

    Jakub Mrva

    2015-12-01

    Full Text Available Traversability characteristics of the robot working environment are crucial in planning an efficient path for a robot operating in rough unstructured areas. In the literature, approaches to wheeled or tracked robots can be found, but a relatively little attention is given to walking multi-legged robots. Moreover, the existing approaches for terrain traversability assessment seem to be focused on gathering key features from a terrain model acquired from range data or camera image and only occasionally supplemented with proprioceptive sensing that expresses the interaction of the robot with the terrain. This paper addresses the problem of traversability cost evaluation based on proprioceptive sensing for a hexapod walking robot while optimizing different criteria. We present several methods of evaluating the robot-terrain interaction that can be used as a cost function for an assessment of the robot motion that can be utilized in high-level path-planning algorithms.

  15. An industrial robot singular trajectories planning based on graphs and neural networks

    Science.gov (United States)

    Łęgowski, Adrian; Niezabitowski, Michał

    2016-06-01

    Singular trajectories are rarely used because of issues during realization. A method of planning trajectories for given set of points in task space with use of graphs and neural networks is presented. In every desired point the inverse kinematics problem is solved in order to derive all possible solutions. A graph of solutions is made. The shortest path is determined to define required nodes in joint space. Neural networks are used to define the path between these nodes.

  16. Automated Kinematics Equations Generation and Constrained Motion Planning Resolution for Modular and Reconfigurable Robots

    Energy Technology Data Exchange (ETDEWEB)

    Pin, Francois G.; Love, Lonnie L.; Jung, David L.

    2004-03-29

    Contrary to the repetitive tasks performed by industrial robots, the tasks in most DOE missions such as environmental restoration or Decontamination and Decommissioning (D&D) can be characterized as ''batches-of-one'', in which robots must be capable of adapting to changes in constraints, tools, environment, criteria and configuration. No commercially available robot control code is suitable for use with such widely varying conditions. In this talk we present our development of a ''generic code'' to allow real time (at loop rate) robot behavior adaptation to changes in task objectives, tools, number and type of constraints, modes of controls or kinematics configuration. We present the analytical framework underlying our approach and detail the design of its two major modules for the automatic generation of the kinematics equations when the robot configuration or tools change and for the motion planning under time-varying constraints. Sample problems illustrating the capabilities of the developed system are presented.

  17. Robotics

    Indian Academy of Sciences (India)

    netic induction to detect an object. The development of ... end effector, inclination of object, magnetic and electric fields, etc. The sensors described ... In the case of a robot, the various actuators and motors have to be modelled. The major ...

  18. Whole-Body Motion Planning for Humanoid Robots by Specifying Via-Points

    Directory of Open Access Journals (Sweden)

    ChangHyun Sung

    2013-07-01

    Full Text Available We design a framework about the planning of whole body motion for humanoid robots. Motion planning with various constraints is essential to success the task. In this research, we propose a motion planning method corresponding to various conditions for achieving the task. We specify some via-points to deal with the conditions for target achievement depending on various constraints. Together with certain constraints including task accomplishment, the via-point representation plays a crucial role in the optimization process of our method. Furthermore, the via-points as the optimization parameters are related to some physical conditions. We applied this method to generate the kicking motion of a humanoid robot HOAP-3. We have confirmed that the robot was able to complete the task of kicking a ball over an obstacle into a goal in addition to changing conditions of the location of a ball. These results show that the proposed motion planning method using via-point representation can increase articulation of the motion.

  19. Lagrangian coherent structure assisted path planning for transoceanic autonomous underwater vehicle missions.

    Science.gov (United States)

    Ramos, A G; García-Garrido, V J; Mancho, A M; Wiggins, S; Coca, J; Glenn, S; Schofield, O; Kohut, J; Aragon, D; Kerfoot, J; Haskins, T; Miles, T; Haldeman, C; Strandskov, N; Allsup, B; Jones, C; Shapiro, J

    2018-03-15

    Transoceanic Gliders are Autonomous Underwater Vehicles (AUVs) for which there is a developing and expanding range of applications in open-seas research, technology and underwater clean transport. Mature glider autonomy, operating depth (0-1000 meters) and low energy consumption without a CO 2 footprint enable evolutionary access across ocean basins. Pursuant to the first successful transatlantic glider crossing in December 2009, the Challenger Mission has opened the door to long-term, long-distance routine transoceanic AUV missions. These vehicles, which glide through the water column between 0 and 1000 meters depth, are highly sensitive to the ocean current field. Consequently, it is essential to exploit the complex space-time structure of the ocean current field in order to plan a path that optimizes scientific payoff and navigation efficiency. This letter demonstrates the capability of dynamical system theory for achieving this goal by realizing the real-time navigation strategy for the transoceanic AUV named Silbo, which is a Slocum deep-glider (0-1000 m), that crossed the North Atlantic from April 2016 to March 2017. Path planning in real time based on this approach has facilitated an impressive speed up of the AUV to unprecedented velocities resulting in major battery savings on the mission, offering the potential for routine transoceanic long duration missions.

  20. Optimal path planning for single and multiple aircraft using a reduced order formulation

    Science.gov (United States)

    Twigg, Shannon S.

    High-flying unmanned reconnaissance and surveillance systems are now being used extensively in the United States military. Current development programs are producing demonstrations of next-generation unmanned flight systems that are designed to perform combat missions. Their use in first-strike combat operations will dictate operations in densely cluttered environments that include unknown obstacles and threats, and will require the use of terrain for masking. The demand for autonomy of operations in such environments dictates the need for advanced trajectory optimization capabilities. In addition, the ability to coordinate the movements of more than one aircraft in the same area is an emerging challenge. This thesis examines using an analytical reduced order formulation for trajectory generation for minimum time and terrain masking cases. First, pseudo-3D constant velocity equations of motion are used for path planning for a single vehicle. In addition, the inclusion of winds, moving targets and moving threats is considered. Then, this formulation is increased to using 3D equations of motion, both with a constant velocity and with a simplified varying velocity model. Next, the constant velocity equations of motion are expanded to include the simultaneous path planning of an unspecified number of vehicles, for both aircraft avoidance situations and formation flight cases.

  1. Effective programming of energy consuming industrial robot systems

    International Nuclear Information System (INIS)

    Trnka, K.; Pinter, T.; Knazik, M.; Bozek, P.

    2012-01-01

    This paper discusses the problem of effective motion planning for industrial robots. The first part dealt with current method for off-line motion planning. In the second part is presented the work done with one of the simulation system with automatic trajectory generation and off-line programming capability [4]. An spot welding process is involved. The practical application of this step strongly depends on the method for robot path optimization with high accuracy, thus, transform the path into a time and energy optimal robot program for the real world, which is discussed in the third step. (Authors)

  2. Robotic needle steering: design, modeling, planning, and image guidance

    NARCIS (Netherlands)

    Cowan, Noah J.; Goldberg, Ken; Chirikjian, Gregory S.; Fichtinger, Gabor; Alterovitz, Ron; Reed, Kyle B.; Kallem, Vinutha; Misra, Sarthak; Park, Wooram; Okamura, Allison M.; Rosen, Jacob; Hannaford, Blake; Satava, Richard M.

    2010-01-01

    This chapter describes how advances in needle design, modeling, planning, and image guidance make it possible to steer flexible needles from outside the body to reach specified anatomical targets not accessible using traditional needle insertion methods. Steering can be achieved using a variety of

  3. Comparison of Behavior-based and Planning Techniques on the Small Robot Maze Exploration Problem

    Czech Academy of Sciences Publication Activity Database

    Slušný, Stanislav; Neruda, Roman; Vidnerová, Petra

    2010-01-01

    Roč. 23, č. 4 (2010), s. 560-567 ISSN 0893-6080. [ICANN 2008. International Conference on Artificial Neural Networks /18./. Prague, 03.09.2008-06.09.2008] R&D Projects: GA ČR GA201/08/1744 Institutional research plan: CEZ:AV0Z10300504 Keywords : evolutionary robotic s * neural networks * reinforcement learning * localization Subject RIV: IN - Informatics, Computer Science Impact factor: 1.955, year: 2010

  4. Three-dimensional computed tomography reconstruction for operative planning in robotic segmentectomy: a pilot study.

    Science.gov (United States)

    Le Moal, Julien; Peillon, Christophe; Dacher, Jean-Nicolas; Baste, Jean-Marc

    2018-01-01

    The objective of our pilot study was to assess if three-dimensional (3D) reconstruction performed by Visible Patient™ could be helpful for the operative planning, efficiency and safety of robot-assisted segmentectomy. Between 2014 and 2015, 3D reconstructions were provided by the Visible Patient™ online service and used for the operative planning of robotic segmentectomy. To obtain 3D reconstruction, the surgeon uploaded the anonymized computed tomography (CT) image of the patient to the secured Visible Patient™ server and then downloaded the model after completion. Nine segmentectomies were performed between 2014 and 2015 using a pre-operative 3D model. All 3D reconstructions met our expectations: anatomical accuracy (bronchi, arteries, veins, tumor, and the thoracic wall with intercostal spaces), accurate delimitation of each segment in the lobe of interest, margin resection, free space rotation, portability (smartphone, tablet) and time saving technique. We have shown that operative planning by 3D CT using Visible Patient™ reconstruction is useful in our practice of robot-assisted segmentectomy. The main disadvantage is the high cost. Its impact on reducing complications and improving surgical efficiency is the object of an ongoing study.

  5. 11th International Workshop on the Algorithmic Foundations of Robotics

    CERN Document Server

    Amato, Nancy; Isler, Volkan; Stappen, A

    2015-01-01

    This carefully edited volume is the outcome of the eleventh edition of the Workshop on Algorithmic Foundations of Robotics (WAFR), which is the premier venue showcasing cutting edge research in algorithmic robotics. The eleventh WAFR, which was held August 3-5, 2014 at Boğaziçi University in Istanbul, Turkey continued this tradition. This volume contains extended versions of the 42 papers presented at WAFR. These contributions highlight the cutting edge research in classical robotics problems (e.g.  manipulation, motion, path, multi-robot and kinodynamic planning), geometric and topological computation in robotics as well novel applications such as informative path planning, active sensing and surgical planning.  This book - rich by topics and authoritative contributors - is a unique reference on the current developments and new directions in the field of algorithmic foundations.  

  6. Probabilistic Path Planning of Montgolfier Balloons in Strong, Uncertain Wind Fields

    Science.gov (United States)

    Wolf, Michael; Blackmore, James C.; Kuwata, Yoshiaki

    2011-01-01

    Lighter-than-air vehicles such as hot-air balloons have been proposed for exploring Saturn s moon Titan, as well as other bodies with significant atmospheres. For these vehicles to navigate effectively, it is critical to incorporate the effects of surrounding wind fields, especially as these winds will likely be strong relative to the control authority of the vehicle. Predictive models of these wind fields are available, and previous research has considered problems of planning paths subject to these predicted forces. However, such previous work has considered the wind fields as known a priori, whereas in practical applications, the actual wind vector field is not known exactly and may deviate significantly from the wind velocities estimated by the model. A probabilistic 3D path-planning algorithm was developed for balloons to use uncertain wind models to generate time-efficient paths. The nominal goal of the algorithm is to determine what altitude and what horizontal actuation, if any is available on the vehicle, to use to reach a particular goal location in the least expected time, utilizing advantageous winds. The solution also enables one to quickly evaluate the expected time-to-goal from any other location and to avoid regions of large uncertainty. This method is designed for balloons in wind fields but may be generalized for any buoyant vehicle operating in a vector field. To prepare the planning problem, the uncertainty in the wind field is modeled. Then, the problem of reaching a particular goal location is formulated as a Markov decision process (MDP) using a discretized space approach. Solving the MDP provides a policy of what actuation option (how much buoyancy change and, if applicable, horizontal actuation) should be selected at any given location to minimize the expected time-to-goal. The results provide expected time-to-goal values from any given location on the globe in addition to the action policy. This stochastic approach can also provide

  7. Assembly Line Productivity Assessment by Comparing Optimization-Simulation Algorithms of Trajectory Planning for Industrial Robots

    Directory of Open Access Journals (Sweden)

    Francisco Rubio

    2015-01-01

    Full Text Available In this paper an analysis of productivity will be carried out from the resolution of the problem of trajectory planning of industrial robots. The analysis entails economic considerations, thus overcoming some limitations of the existing literature. Two methodologies based on optimization-simulation procedures are compared to calculate the time needed to perform an industrial robot task. The simulation methodology relies on the use of robotics and automation software called GRASP. The optimization methodology developed in this work is based on the kinematics and the dynamics of industrial robots. It allows us to pose a multiobjective optimization problem to assess the trade-offs between the economic variables by means of the Pareto fronts. The comparison is carried out for different examples and from a multidisciplinary point of view, thus, to determine the impact of using each method. Results have shown the opportunity costs of non using the methodology with optimized time trajectories. Furthermore, it allows companies to stay competitive because of the quick adaptation to rapidly changing markets.

  8. Multi-robot caravanning

    KAUST Repository

    Denny, Jory

    2013-11-01

    We study multi-robot caravanning, which is loosely defined as the problem of a heterogeneous team of robots visiting specific areas of an environment (waypoints) as a group. After formally defining this problem, we propose a novel solution that requires minimal communication and scales with the number of waypoints and robots. Our approach restricts explicit communication and coordination to occur only when robots reach waypoints, and relies on implicit coordination when moving between a given pair of waypoints. At the heart of our algorithm is the use of leader election to efficiently exploit the unique environmental knowledge available to each robot in order to plan paths for the group, which makes it general enough to work with robots that have heterogeneous representations of the environment. We implement our approach both in simulation and on a physical platform, and characterize the performance of the approach under various scenarios. We demonstrate that our approach can successfully be used to combine the planning capabilities of different agents. © 2013 IEEE.

  9. Optimal path planning for video-guided smart munitions via multitarget tracking

    Science.gov (United States)

    Borkowski, Jeffrey M.; Vasquez, Juan R.

    2006-05-01

    An advent in the development of smart munitions entails autonomously modifying target selection during flight in order to maximize the value of the target being destroyed. A unique guidance law can be constructed that exploits both attribute and kinematic data obtained from an onboard video sensor. An optimal path planning algorithm has been developed with the goals of obstacle avoidance and maximizing the value of the target impacted by the munition. Target identification and classification provides a basis for target value which is used in conjunction with multi-target tracks to determine an optimal waypoint for the munition. A dynamically feasible trajectory is computed to provide constraints on the waypoint selection. Results demonstrate the ability of the autonomous system to avoid moving obstacles and revise target selection in flight.

  10. Creating spatial awareness in unmanned ground robots using SLAM

    Indian Academy of Sciences (India)

    sensor data to get information of the environment, to formulate its plan to achieve the given goals, to plan a path for movement to a designated location, to allow the robot to update itself con- tinuously to incorporate observed changes in its plans, etc. Among these activities, autonomous movement is very important for mobile ...

  11. Control of wheeled mobile robot in restricted environment

    Science.gov (United States)

    Ali, Mohammed A. H.; En, Chang Yong

    2018-03-01

    This paper presents a simulation and practical control system for wheeled mobile robot in restricted environment. A wheeled mobile robot with 3 wheels is fabricated and controlled by proportional derivative active force control (PD-AFC) to move in a pre-planned restricted environment to maintain the tracking errors at zero level. A control system with two loops, outer by PD controller and inner loop by Active Force Control, are designed to control the wheeled mobile robot. Fuzzy logic controller is implemented in the Active force Control to estimate the inertia matrix that will be used to calculate the actual torque applied on the wheeled mobile robot. The mobile robot is tested in two different trajectories, namely are circular and straight path. The actual path and desired path are compared.

  12. Global Coverage Measurement Planning Strategies for Mobile Robots Equipped with a Remote Gas Sensor

    Directory of Open Access Journals (Sweden)

    Muhammad Asif Arain

    2015-03-01

    Full Text Available The problem of gas detection is relevant to many real-world applications, such as leak detection in industrial settings and landfill monitoring. In this paper, we address the problem of gas detection in large areas with a mobile robotic platform equipped with a remote gas sensor. We propose an algorithm that leverages a novel method based on convex relaxation for quickly solving sensor placement problems, and for generating an efficient exploration plan for the robot. To demonstrate the applicability of our method to real-world environments, we performed a large number of experimental trials, both on randomly generated maps and on the map of a real environment. Our approach proves to be highly efficient in terms of computational requirements and to provide nearly-optimal solutions.

  13. Motion planning and synchronized control of the dental arch generator of the tooth-arrangement robot.

    Science.gov (United States)

    Jiang, Jin-Gang; Zhang, Yong-De

    2013-03-01

    The traditional, manual method of reproducing the dental arch form is prone to numerous random errors caused by human factors. The purpose of this study was to investigate the automatic acquisition of the dental arch and implement the motion planning and synchronized control of the dental arch generator of the multi-manipulator tooth-arrangement robot for use in full denture manufacture. First, the mathematical model of the dental arch generator was derived. Then the kinematics and control point position of the dental arch generator of the tooth arrangement robot were calculated and motion planning of each control point was analysed. A hardware control scheme is presented, based on the industrial personal computer and control card PC6401. In order to gain single-axis, precise control of the dental arch generator, we studied the control pulse realization of high-resolution timing. Real-time, closed-loop, synchronous control was applied to the dental arch generator. Experimental control of the dental arch generator and preliminary tooth arrangement were gained by using the multi-manipulator tooth-arrangement robotic system. The dental arch generator can automatically generate a dental arch to fit a patient according to the patient's arch parameters. Repeated positioning accuracy is 0.12 mm for the slipways that drive the dental arch generator. The maximum value of single-point error is 1.83 mm, while the arc-width direction (x axis) is -33.29 mm. A novel system that generates the dental arch has been developed. The traditional method of manually determining the dental arch may soon be replaced by a robot to assist in generating a more individual dental arch. The system can be used to fabricate full dentures and bend orthodontic wires. Copyright © 2012 John Wiley & Sons, Ltd.

  14. Employing Multiple Unmanned Aerial Vehicles for Co-Operative Path Planning

    Directory of Open Access Journals (Sweden)

    Durdana Habib

    2013-05-01

    Full Text Available Abstract In this paper, we work to develop a path planning solution for a group of Unmanned Aerial Vehicles (UAVs using a Mixed Integer Linear Programming (MILP approach. Co-operation among team members not only helps reduce mission time, it makes the execution more robust in dynamic environments. However, the problem becomes more challenging as it requires optimal resource allocation and is NP-hard. Since UAVs may be lost or may suffer significant damage during the course of the mission, plans may need to be modified in real-time as the mission proceeds. Therefore, multiple UAVs have a better chance of completing a mission in the face of failures. Such military operations can be treated as a variant of the Multiple Depot Vehicle Routing Problem (MDVRP. The proposed solution must be such that m UAVs start from multiple source locations to visit n targets and return to a set of destination locations such that (1 each target is visited exactly by one of the chosen UAVs (2 the total distance travelled by the group is minimized and (3 the number of targets that each UAV visits may not be less than K or greater than L.

  15. Improved robotic stereotactic body radiation therapy plan quality and planning efficacy for organ-confined prostate cancer utilizing overlap-volume histogram-driven planning methodology

    International Nuclear Information System (INIS)

    Wu, Binbin; Pang, Dalong; Lei, Siyuan; Gatti, John; Tong, Michael; McNutt, Todd; Kole, Thomas; Dritschilo, Anatoly; Collins, Sean

    2014-01-01

    Background and purpose: This study is to determine if the overlap-volume histogram (OVH)-driven planning methodology can be adapted to robotic SBRT (CyberKnife Robotic Radiosurgery System) to further minimize the bladder and rectal doses achieved in plans manually-created by clinical planners. Methods and materials: A database containing clinically-delivered, robotic SBRT plans (7.25 Gy/fraction in 36.25 Gy) of 425 patients with localized prostate cancer was used as a cohort to establish an organ’s distance-to-dose model. The OVH-driven planning methodology was refined by adding the PTV volume factor to counter the target’s dose fall-off effect and incorporated into Multiplan to automate SBRT planning. For validation, automated plans (APs) for 12 new patients were generated, and their achieved dose/volume values were compared to the corresponding manually-created, clinically-delivered plans (CPs). A two-sided, Wilcoxon rank-sum test was used for statistical comparison with a significance level of p < 0.05. Results: PTV’s V(36.25 Gy) was comparable: 95.6% in CPs comparing to 95.1% in APs (p = 0.2). On average, the refined approach lowered V(18.12 Gy) to the bladder and rectum by 8.2% (p < 0.05) and 6.4% (p = 0.14). A physician confirmed APs were clinically acceptable. Conclusions: The improvements in APs could further reduce toxicities observed in SBRT for organ-confined prostate cancer

  16. Integrating Multi-Purpose Natural Language Understanding, Robot's Memory, and Symbolic Planning for Task Execution in Humanoid Robots

    DEFF Research Database (Denmark)

    Wächter, Mirko; Ovchinnikova, Ekaterina; Wittenbeck, Valerij

    2017-01-01

    We propose an approach for instructing a robot using natural language to solve complex tasks in a dynamic environment. In this study, we elaborate on a framework that allows a humanoid robot to understand natural language, derive symbolic representations of its sensorimotor experience, generate....... The framework is implemented within the robot development environment ArmarX. We evaluate the framework on the humanoid robot ARMAR-III in the context of two experiments: a demonstration of the real execution of a complex task in the kitchen environment on ARMAR-III and an experiment with untrained users...

  17. Panning for Gold: The personal journey of mental health wellness and its relationships with Planning Alternatives Tomorrows with Hope (PATH

    Directory of Open Access Journals (Sweden)

    Matthew Lyndon Armstrong

    2015-12-01

    Full Text Available This study explored how the Planning Alternatives Tomorrows with Hope (PATH process could enhance and strengthen an individual’s personal journey of recovery. This article utilised the knowledge base of members of a Community of Practice, located in Brisbane Australia. Members had a deep concern and passion to promote and strengthen wellbeing for people who live with the experience of mental ill health. They were invited to form a focus group to explore the use of PATH and its relationship with mental health wellness. After contemplating and reflecting on an example of the PATH process, the focus group explored opportunities for PATH to become one of many wellness resources for people experiencing and overcoming mental ill health. Through the exploration of personal meaning, storytelling and community connection (anchored in the visuals and graphics of the PATH example, the study found that PATH can make a valuable contribution by restoring some of the power inbalances in traditonal service frameworks and enhancing personal self direction. Keywords: mental health distress, practitioners, recovery, facilitation, creativity, planning

  18. Robot Plans and Human Plans: Implications for Models of Communication. Technical Report No. 314.

    Science.gov (United States)

    Bruce, Bertram

    People in interaction with others organize their perceptions of a social situation in terms of plans even when the others' plans are poorly formulated. They use their models of others' plans in formulating their own. Much of what occurs in discourse centers on a continual communication about and reformulation of one's own plans and one's own…

  19. A study on an autonomous pipeline maintenance robot, 5

    International Nuclear Information System (INIS)

    Fukuda, Toshio; Hosokai, Hidemi; Otsuka, Masashi.

    1989-01-01

    The path planning is very important for the pipeline maintenance robot because there are many obstacles on pipeline such as flanges and T-joints and others, and because pipelines are constructed as a connected network in a very complicated way. Furthermore the maintenance robot Mark III previously reported has the ability to transit from one pipe to another the path planner should consider. The expert system especially aimed for path planning, named PPES (Path Planning Expert System), is described in this paper. A human-operator has only to give some tasks to this system. This system automatically replies with the optimal path, which is based on the calculation of the task levels and list of some control commands. Task level is a criterion to determine one optimal path. It consists of the difference of potential energies, the static joint torques, velocity of the robot, step numbers of the grippers' or body's movement, which the robot requires. This system also has graphic illustrations, so that the operator can easily check and understand the plant map and the result of the path planning. (author)

  20. A Review of Robotics Technologies for On-Orbit Services

    Science.gov (United States)

    2013-01-01

    The SpaceX vehicle has successfully accomplished its first docking with the ISS in May 2012, delivered about 1,200 lbs of water, food , and other...algorithms, which can generate collision-free robot motion paths. Recently, Franch et al [101] have employed flatness theory to plan trajectories...3713–3719 (2005). [101] Franch J, Agrawal S, Fattah A, "Design of Differentially Flat Planar Space Robots: a Step Forward in Their Planning and

  1. Safe teleoperation based on flexible intraoperative planning for robot-assisted laser microsurgery.

    Science.gov (United States)

    Mattos, Leonardo S; Caldwell, Darwin G

    2012-01-01

    This paper describes a new intraoperative planning system created to improve precision and safety in teleoperated laser microsurgeries. It addresses major safety issues related to real-time control of a surgical laser during teleoperated procedures, which are related to the reliability and robustness of the telecommunication channels. Here, a safe solution is presented, consisting in a new planning system architecture that maintains the flexibility and benefits of real-time teleoperation and keeps the surgeon in control of all surgical actions. The developed system is based on our virtual scalpel system for robot-assisted laser microsurgery, and allows the intuitive use of stylus to create surgical plans directly over live video of the surgical field. In this case, surgical plans are defined as graphic objects overlaid on the live video, which can be easily modified or replaced as needed, and which are transmitted to the main surgical system controller for subsequent safe execution. In the process of improving safety, this new planning system also resulted in improved laser aiming precision and improved capability for higher quality laser procedures, both due to the new surgical plan execution module, which allows very fast and precise laser aiming control. Experimental results presented herein show that, in addition to the safety improvements, the new planning system resulted in a 48% improvement in laser aiming precision when compared to the previous virtual scalpel system.

  2. Path Planning Software and Graphics Interface for an Autonomous Vehicle, Accounting for Terrain Features

    National Research Council Canada - National Science Library

    Hurezeanu, Vlad

    2000-01-01

    A Navigation Test Vehicle (NTV) is being developed at the Center for Intelligent Machines and Robots at the University of Florida under the sponsorship of the Air Force Research Laboratory at Tyndall Air Force Base...

  3. Neurosurgical robotic arm drilling navigation system.

    Science.gov (United States)

    Lin, Chung-Chih; Lin, Hsin-Cheng; Lee, Wen-Yo; Lee, Shih-Tseng; Wu, Chieh-Tsai

    2017-09-01

    The aim of this work was to develop a neurosurgical robotic arm drilling navigation system that provides assistance throughout the complete bone drilling process. The system comprised neurosurgical robotic arm navigation combining robotic and surgical navigation, 3D medical imaging based surgical planning that could identify lesion location and plan the surgical path on 3D images, and automatic bone drilling control that would stop drilling when the bone was to be drilled-through. Three kinds of experiment were designed. The average positioning error deduced from 3D images of the robotic arm was 0.502 ± 0.069 mm. The correlation between automatically and manually planned paths was 0.975. The average distance error between automatically planned paths and risky zones was 0.279 ± 0.401 mm. The drilling auto-stopping algorithm had 0.00% unstopped cases (26.32% in control group 1) and 70.53% non-drilled-through cases (8.42% and 4.21% in control groups 1 and 2). The system may be useful for neurosurgical robotic arm drilling navigation. Copyright © 2016 John Wiley & Sons, Ltd.

  4. Dynamic Modeling and Soil Mechanics for Path Planning of the Mars Exploration Rovers

    Science.gov (United States)

    Trease, Brian; Arvidson, Raymond; Lindemann, Randel; Bennett, Keith; Zhou, Feng; Iagnemma, Karl; Senatore, Carmine; Van Dyke, Lauren

    2011-01-01

    To help minimize risk of high sinkage and slippage during drives and to better understand soil properties and rover terramechanics from drive data, a multidisciplinary team was formed under the Mars Exploration Rover (MER) project to develop and utilize dynamic computer-based models for rover drives over realistic terrains. The resulting tool, named ARTEMIS (Adams-based Rover Terramechanics and Mobility Interaction Simulator), consists of the dynamic model, a library of terramechanics subroutines, and the high-resolution digital elevation maps of the Mars surface. A 200-element model of the rovers was developed and validated for drop tests before launch, using MSC-Adams dynamic modeling software. Newly modeled terrain-rover interactions include the rut-formation effect of deformable soils, using the classical Bekker-Wong implementation of compaction resistances and bull-dozing effects. The paper presents the details and implementation of the model with two case studies based on actual MER telemetry data. In its final form, ARTEMIS will be used in a predictive manner to assess terrain navigability and will become part of the overall effort in path planning and navigation for both Martian and lunar rovers.

  5. Presentation robot Advee

    Czech Academy of Sciences Publication Activity Database

    Krejsa, Jiří; Věchet, Stanislav; Hrbáček, J.; Ripel, T.; Ondroušek, V.; Hrbáček, R.; Schreiber, P.

    2012-01-01

    Roč. 18, 5/6 (2012), s. 307-322 ISSN 1802-1484 Institutional research plan: CEZ:AV0Z20760514 Keywords : mobile robot * human - robot interface * localization Subject RIV: JD - Computer Applications, Robot ics

  6. Path planning for first responders in the presence of moving obstacles

    Directory of Open Access Journals (Sweden)

    Zhiyong Wang

    2015-06-01

    Full Text Available Navigation services have gained much importance for all kinds of human activities ranging from tourist navigation to support of rescue teams in disaster management. However, despite the considerable amount of route guidance research that has been performed, many issues that are related to navigation for first responders still need to be addressed. During disasters, emergencies can result in different types of moving obstacles (e.g., fires, plumes, floods, which make some parts of the road network temporarily unavailable. After such incidents occur, responders have to go to different destinations to perform their tasks in the environment affected by the disaster. Therefore they need a path planner that is capable of dealing with such moving obstacles, as well as generating and coordinating their routes quickly and efficiently. During the past decades, more and more hazard simulations, which can modify the models with incorporation of dynamic data from the field, have been developed. These hazard simulations use methods such as data assimilation, stochastic estimation, and adaptive measurement techniques, and are able to generate more reliable results of hazards. This would allow the hazard simulation models to provide valuable information regarding the state of road networks affected by hazards, which supports path planning for first responders among the moving obstacles. The objective of this research is to develop an integrated navigation system for first responders in the presence of moving obstacles. Such system should be able to navigate one or more responders to one or multiple destinations avoiding the moving obstacles, using the predicted information of the moving obstacles generated from by hazard simulations. In this dissertation, the objective we have is expressed as the following research question: How do we safely and efficiently navigate one or more first responders to one or more destinations avoiding moving obstacles? To address

  7. Surface modeling of workpiece and tool trajectory planning for spray painting robot.

    Directory of Open Access Journals (Sweden)

    Yang Tang

    Full Text Available Automated tool trajectory planning for spray-painting robots is still a challenging problem, especially for a large free-form surface. A grid approximation of a free-form surface is adopted in CAD modeling in this paper. A free-form surface model is approximated by a set of flat patches. We describe here an efficient and flexible tool trajectory optimization scheme using T-Bézier curves calculated in a new way from trigonometrical bases. The distance between the spray gun and the free-form surface along the normal vector is varied. Automotive body parts, which are large free-form surfaces, are used to test the scheme. The experimental results show that the trajectory planning algorithm achieves satisfactory performance. This algorithm can also be extended to other applications.

  8. In-Situ Operations and Planning for the Mars Science Laboratory Robotic Arm: The First 200 Sols

    Science.gov (United States)

    Robinson, M.; Collins, C.; Leger, P.; Carsten, J.; Tompkins, V.; Hartman, F.; Yen, J.

    2013-01-01

    The Robotic Arm (RA) has operated for more than 200 Martian solar days (or sols) since the Mars Science Laboratory rover touched down in Gale Crater on August 5, 2012. During the first seven months on Mars the robotic arm has performed multiple contact science sols including the positioning of the Alpha Particle X-Ray Spectrometer (APXS) and/or Mars Hand Lens Imager (MAHLI) with respect to rocks or loose regolith targets. The RA has supported sample acquisition using both the scoop and drill, sample processing with CHIMRA (Collection and Handling for In- Situ Martian Rock Analysis), and delivery of sample portions to the observation tray, and the SAM (Sample Analysis at Mars) and CHEMIN (Chemistry and Mineralogy) science instruments. This paper describes the planning and execution of robotic arm activities during surface operations, and reviews robotic arm performance results from Mars to date.

  9. Development of the first force-controlled robot for otoneurosurgery.

    Science.gov (United States)

    Federspil, Philipp A; Geisthoff, Urban W; Henrich, Dominik; Plinkert, Peter K

    2003-03-01

    In some surgical specialties (eg, orthopedics), robots are already used in the operating room for bony milling work. Otological surgery and otoneurosurgery may also greatly benefit from the enhanced precision of robotics. Experimental study on robotic milling of oak wood and human temporal bone specimen. A standard industrial robot with a six-degrees-of-freedom serial kinematics was used, with force feedback to proportionally control the robot speed. Different milling modes and characteristic path parameters were evaluated to generate milling paths based on computer-aided design (CAD) geometry data of a cochlear implant and an implantable hearing system. The best-suited strategy proved to be the spiral horizontal milling mode with the burr held perpendicular to the temporal bone surface. To reduce groove height, the distance between paths should equal half the radius of the cutting burr head. Because of the vibration of the robot's own motors, a high oscillation of the SD of forces was encountered. This oscillation dropped drastically to nearly 0 Newton (N) when the burr head made contact with the dura mater, because of its damping characteristics. The cutting burr could be kept in contact with the dura mater for an extended period without damaging it, because of the burr's blunt head form. The robot moved the burr smoothly according to the encountered resistances. The study reports the first development of a functional robotic milling procedure for otoneurosurgery with force-based speed control. Future plans include implementation of ultrasound-based local navigation and performance of robotic mastoidectomy.

  10. MOVEMENT SIMULATION OF THREE ARMED ROBOT BY BEING USED AutoLISP

    Directory of Open Access Journals (Sweden)

    Mustafa BOZDEMİR

    2000-01-01

    Full Text Available Development of a suitable robot for desired aim and duty is very important for design enginers. On the other hand, designed robots may be unsuccesful in functioning inspite of many efforts. For this reason, before the production of considered robot systems, having prepared a simulation program, investigation of work field, getting done path plan and mistakes could be eliminated before robot production. In this study, movement simulation of a three armed robot has been realized by using AutoLIPS programing language which is supplied with AutoCAD. Analytical and matrix solution methods have been used in simulation equations.

  11. Laser speckle velocimetry for robot manufacturing

    Science.gov (United States)

    Charrett, Thomas O. H.; Bandari, Yashwanth K.; Michel, Florent; Ding, Jialuo; Williams, Stewart W.; Tatam, Ralph P.

    2017-06-01

    A non-contact speckle correlation sensor for the measurement of robotic tool speed is presented for use in robotic manufacturing and is capable of measuring the in-plane relative velocities between a robot end-effector and the workpiece or other surface. The sensor performance was assessed in the laboratory with the sensor accuracies found to be better than 0:01 mm/s over a 70 mm/s velocity range. Finally an example of the sensors application to robotic manufacturing is presented where the sensor was applied to tool speed measurement for path planning in the wire and arc additive manufacturing process using a KUKA KR150 L110/2 industrial robot.

  12. An improved artificial bee colony algorithm based on balance-evolution strategy for unmanned combat aerial vehicle path planning.

    Science.gov (United States)

    Li, Bai; Gong, Li-gang; Yang, Wen-lun

    2014-01-01

    Unmanned combat aerial vehicles (UCAVs) have been of great interest to military organizations throughout the world due to their outstanding capabilities to operate in dangerous or hazardous environments. UCAV path planning aims to obtain an optimal flight route with the threats and constraints in the combat field well considered. In this work, a novel artificial bee colony (ABC) algorithm improved by a balance-evolution strategy (BES) is applied in this optimization scheme. In this new algorithm, convergence information during the iteration is fully utilized to manipulate the exploration/exploitation accuracy and to pursue a balance between local exploitation and global exploration capabilities. Simulation results confirm that BE-ABC algorithm is more competent for the UCAV path planning scheme than the conventional ABC algorithm and two other state-of-the-art modified ABC algorithms.

  13. An Improved Artificial Bee Colony Algorithm Based on Balance-Evolution Strategy for Unmanned Combat Aerial Vehicle Path Planning

    Directory of Open Access Journals (Sweden)

    Bai Li

    2014-01-01

    Full Text Available Unmanned combat aerial vehicles (UCAVs have been of great interest to military organizations throughout the world due to their outstanding capabilities to operate in dangerous or hazardous environments. UCAV path planning aims to obtain an optimal flight route with the threats and constraints in the combat field well considered. In this work, a novel artificial bee colony (ABC algorithm improved by a balance-evolution strategy (BES is applied in this optimization scheme. In this new algorithm, convergence information during the iteration is fully utilized to manipulate the exploration/exploitation accuracy and to pursue a balance between local exploitation and global exploration capabilities. Simulation results confirm that BE-ABC algorithm is more competent for the UCAV path planning scheme than the conventional ABC algorithm and two other state-of-the-art modified ABC algorithms.

  14. Grasp planning for a reconfigurable parallel robot with an underactuated arm structure

    Directory of Open Access Journals (Sweden)

    M. Riedel

    2010-12-01

    Full Text Available In this paper, a novel approach of grasp planning is applied to find out the appropriate grasp points for a reconfigurable parallel robot called PARAGRIP (Parallel Gripping. This new handling system is able to manipulate objects in the six-dimensional Cartesian space by several robotic arms using only six actuated joints. After grasping, the contact elements at the end of the underactuated arm mechanisms are connected to the object which forms a closed loop mechanism similar to the architecture of parallel manipulators. As the mounting and grasp points of the arms can easily be changed, the manipulator can be reconfigured to match the user's preferences and needs. This paper raises the question, how and where these grasp points are to be placed on the object to perform well for a certain manipulation task.

    This paper was presented at the IFToMM/ASME International Workshop on Underactuated Grasping (UG2010, 19 August 2010, Montréal, Canada.

  15. 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.

  16. STRATEGIC INFORMATION SYSTEMS PLANNING IN THE BANKING SECTOR—A PATH ANALYTIC MODEL STUDY IN THE INDIAN CONTEXT

    Directory of Open Access Journals (Sweden)

    A. M. Rawani

    2002-01-01

    Full Text Available This paper presents a path analytic model showing the cause and effect relationships among various Information Systems (IS planning variables for the banking sector in India. In recent years, there has been an increased awareness among banks of the potential of Information Technology (IT and the use of information systems. Strategic information system planning (SISP becomes an important issue in the use of IS strategically. In India, banks have now started realizing the importance of SISP. In this study, 11 IS planning variables for the banking sector in India are examined and the influence of one over the other is investigated using path analysis. Data for the study are collected from 52 banks operating in India. The results of the study indicate that top management involvement in IS planning greatly influences the whole planning exercise. Moreover, top management involvement is higher when they foresee greater future impact of IS. The study also highlights the need and importance of user training in the banking sector. Change in the focus and orientation of user-training will make the users competent to conceive with innovative IS applications.

  17. Virtual reality based support system for layout planning and programming of an industrial robotic work cell.

    Science.gov (United States)

    Yap, Hwa Jen; Taha, Zahari; Dawal, Siti Zawiah Md; Chang, Siow-Wee

    2014-01-01

    Traditional robotic work cell design and programming are considered inefficient and outdated in current industrial and market demands. In this research, virtual reality (VR) technology is used to improve human-robot interface, whereby complicated commands or programming knowledge is not required. The proposed solution, known as VR-based Programming of a Robotic Work Cell (VR-Rocell), consists of two sub-programmes, which are VR-Robotic Work Cell Layout (VR-RoWL) and VR-based Robot Teaching System (VR-RoT). VR-RoWL is developed to assign the layout design for an industrial robotic work cell, whereby VR-RoT is developed to overcome safety issues and lack of trained personnel in robot programming. Simple and user-friendly interfaces are designed for inexperienced users to generate robot commands without damaging the robot or interrupting the production line. The user is able to attempt numerous times to attain an optimum solution. A case study is conducted in the Robotics Laboratory to assemble an electronics casing and it is found that the output models are compatible with commercial software without loss of information. Furthermore, the generated KUKA commands are workable when loaded into a commercial simulator. The operation of the actual robotic work cell shows that the errors may be due to the dynamics of the KUKA robot rather than the accuracy of the generated programme. Therefore, it is concluded that the virtual reality based solution approach can be implemented in an industrial robotic work cell.

  18. On-line trajectory planning of time-jerk optimal for robotic arms

    Directory of Open Access Journals (Sweden)

    Nadir Bendali

    2016-09-01

    Full Text Available A method based on the computation of the time intervals of the knots for time-jerk optimal planning under kinematic constraints of robot manipulators in predefined operations is described in this paper. In order to ensure that the resulting trajectory is smooth enough, a cost function containing a term proportional to the integral of the squared jerk (defined as the derivative of the acceleration along the trajectory is considered. Moreover, a second term, proportional to the total execution time, is added to the expression of the cost function. A Cubic Spline functions are then used to compose overall trajectory. This method can meet the requirements of a short execution time and low arm vibration of the manipulator and the simulation provides good results.

  19. Robot Trajectories Comparison: A Statistical Approach

    Directory of Open Access Journals (Sweden)

    A. Ansuategui

    2014-01-01

    Full Text Available The task of planning a collision-free trajectory from a start to a goal position is fundamental for an autonomous mobile robot. Although path planning has been extensively investigated since the beginning of robotics, there is no agreement on how to measure the performance of a motion algorithm. This paper presents a new approach to perform robot trajectories comparison that could be applied to any kind of trajectories and in both simulated and real environments. Given an initial set of features, it automatically selects the most significant ones and performs a statistical comparison using them. Additionally, a graphical data visualization named polygraph which helps to better understand the obtained results is provided. The proposed method has been applied, as an example, to compare two different motion planners, FM2 and WaveFront, using different environments, robots, and local planners.

  20. Robot Trajectories Comparison: A Statistical Approach

    Science.gov (United States)

    Ansuategui, A.; Arruti, A.; Susperregi, L.; Yurramendi, Y.; Jauregi, E.; Lazkano, E.; Sierra, B.

    2014-01-01

    The task of planning a collision-free trajectory from a start to a goal position is fundamental for an autonomous mobile robot. Although path planning has been extensively investigated since the beginning of robotics, there is no agreement on how to measure the performance of a motion algorithm. This paper presents a new approach to perform robot trajectories comparison that could be applied to any kind of trajectories and in both simulated and real environments. Given an initial set of features, it automatically selects the most significant ones and performs a statistical comparison using them. Additionally, a graphical data visualization named polygraph which helps to better understand the obtained results is provided. The proposed method has been applied, as an example, to compare two different motion planners, FM2 and WaveFront, using different environments, robots, and local planners. PMID:25525618

  1. Automatic Multiple-Needle Surgical Planning of Robotic-Assisted Microwave Coagulation in Large Liver Tumor Therapy.

    Directory of Open Access Journals (Sweden)

    Shaoli Liu

    Full Text Available The "robotic-assisted liver tumor coagulation therapy" (RALTCT system is a promising candidate for large liver tumor treatment in terms of accuracy and speed. A prerequisite for effective therapy is accurate surgical planning. However, it is difficult for the surgeon to perform surgical planning manually due to the difficulties associated with robot-assisted large liver tumor therapy. These main difficulties include the following aspects: (1 multiple needles are needed to destroy the entire tumor, (2 the insertion trajectories of the needles should avoid the ribs, blood vessels, and other tissues and organs in the abdominal cavity, (3 the placement of multiple needles should avoid interference with each other, (4 an inserted needle will cause some deformation of liver, which will result in changes in subsequently inserted needles' operating environment, and (5 the multiple needle-insertion trajectories should be consistent with the needle-driven robot's movement characteristics. Thus, an effective multiple-needle surgical planning procedure is needed. To overcome these problems, we present an automatic multiple-needle surgical planning of optimal insertion trajectories to the targets, based on a mathematical description of all relevant structure surfaces. The method determines the analytical expression of boundaries of every needle "collision-free reachable workspace" (CFRW, which are the feasible insertion zones based on several constraints. Then, the optimal needle insertion trajectory within the optimization criteria will be chosen in the needle CFRW automatically. Also, the results can be visualized with our navigation system. In the simulation experiment, three needle-insertion trajectories were obtained successfully. In the in vitro experiment, the robot successfully achieved insertion of multiple needles. The proposed automatic multiple-needle surgical planning can improve the efficiency and safety of robot-assisted large liver tumor

  2. Automatic Multiple-Needle Surgical Planning of Robotic-Assisted Microwave Coagulation in Large Liver Tumor Therapy.

    Science.gov (United States)

    Liu, Shaoli; Xia, Zeyang; Liu, Jianhua; Xu, Jing; Ren, He; Lu, Tong; Yang, Xiangdong

    2016-01-01

    The "robotic-assisted liver tumor coagulation therapy" (RALTCT) system is a promising candidate for large liver tumor treatment in terms of accuracy and speed. A prerequisite for effective therapy is accurate surgical planning. However, it is difficult for the surgeon to perform surgical planning manually due to the difficulties associated with robot-assisted large liver tumor therapy. These main difficulties include the following aspects: (1) multiple needles are needed to destroy the entire tumor, (2) the insertion trajectories of the needles should avoid the ribs, blood vessels, and other tissues and organs in the abdominal cavity, (3) the placement of multiple needles should avoid interference with each other, (4) an inserted needle will cause some deformation of liver, which will result in changes in subsequently inserted needles' operating environment, and (5) the multiple needle-insertion trajectories should be consistent with the needle-driven robot's movement characteristics. Thus, an effective multiple-needle surgical planning procedure is needed. To overcome these problems, we present an automatic multiple-needle surgical planning of optimal insertion trajectories to the targets, based on a mathematical description of all relevant structure surfaces. The method determines the analytical expression of boundaries of every needle "collision-free reachable workspace" (CFRW), which are the feasible insertion zones based on several constraints. Then, the optimal needle insertion trajectory within the optimization criteria will be chosen in the needle CFRW automatically. Also, the results can be visualized with our navigation system. In the simulation experiment, three needle-insertion trajectories were obtained successfully. In the in vitro experiment, the robot successfully achieved insertion of multiple needles. The proposed automatic multiple-needle surgical planning can improve the efficiency and safety of robot-assisted large liver tumor therapy

  3. Smooth and Energy Saving Gait Planning for Humanoid Robot Using Geodesics

    Directory of Open Access Journals (Sweden)

    Liandong Zhang

    2012-01-01

    Full Text Available A novel gait planning method using geodesics for humanoid robot is given in this paper. Both the linear inverted pendulum model and the exact Single Support Phase (SSP are studied in our energy optimal gait planning based on geodesics. The kinetic energy of a 2-dimension linear inverted pendulum is obtained at first. We regard the kinetic energy as the Riemannian metric and the geodesic on this metric is studied and this is the shortest line between two points on the Riemannian surface. This geodesic is the optimal kinetic energy gait for the COG because the kinetic energy along geodesic is invariant according to the geometric property of geodesics and the walking is smooth and energy saving. Then the walking in Single Support Phase is studied and the energy optimal gait for the swing leg is obtained using our geodesics method. Finally, experiments using state-of-the-art method and using our geodesics optimization method are carried out respectively and the corresponding currents of the joint motors are recorded. With the currents comparing results, the feasibility of this new gait planning method is verified.

  4. Elastic Stability of Concentric Tube Robots: A Stability Measure and Design Test.

    Science.gov (United States)

    Gilbert, Hunter B; Hendrick, Richard J; Webster, Robert J

    2016-02-01

    Concentric tube robots are needle-sized manipulators which have been investigated for use in minimally invasive surgeries. It was noted early in the development of these devices that elastic energy storage can lead to rapid snapping motion for designs with moderate to high tube curvatures. Substantial progress has recently been made in the concentric tube robot community in designing snap-free robots, planning stable paths, and characterizing conditions that result in snapping for specific classes of concentric tube robots. However, a general measure for how stable a given robot configuration is has yet to be proposed. In this paper, we use bifurcation and elastic stability theory to provide such a measure, as well as to produce a test for determining whether a given design is snap-free (i.e. whether snapping can occur anywhere in the unloaded robot's workspace). These results are useful in designing, planning motions for, and controlling concentric tube robots with high curvatures.

  5. Intelligent mobile robots

    International Nuclear Information System (INIS)

    Ichikawa, Yoshiaki; Senoo, Makoto

    1984-01-01

    For the purpose of the application to remote working apparatuses in nuclear power plants and others, the software and moving mechanism of mobile robots that automatically accomplish the movement by only specifying the destination were manufactured for trial. The software has the function of searching a path to determine the quasi-shortest path and the function of controlling execution to control the action of the robots and guide to the destination. By taking heuristics into the method of searching a path and utilizing ultrasonic waves for the function of sight as they can easily detect distance though the information quantity is small, the execution was accelerated. By the simulation examination and the experiment using a mobile apparatus made for trial, it was confirmed that the route plan was able to be made almost in real time, and the appearance of an unknown obstacle was detected before collision and able to be reasonably avoided by the revision of the plan. An environment model, a route planner, the program for controlling execution, the makeup and control of moving function and the experiment on the movement are reported. The shortening of the processing time by dealing with unconfirmed echo and simplifying the writing in a map is a future problem. (Kako, I.)

  6. Dynamics of a novel robotic leg based on the Peaucellier–Lipkin mechanism on linear paths during the transfer phase

    Directory of Open Access Journals (Sweden)

    Diego Alfredo Núñez-Altamirano

    2016-07-01

    Full Text Available This article deals with the kinematics and dynamics of a novel leg based on the Peaucellier–Lipkin mechanism, which is better known as the straight path tracer. The basic Peaucellier–Lipkin linkage with 1 degree of freedom was transformed into a more skillful mechanism, through the addition of 4 more degrees of freedom. The resulting 5-degree-of-freedom leg enables the walking machine to move along paths that are straight lines and/or concave or convex curves. Three degrees of freedom transform the leg in relation to a reachable center of rotation that the machine walks around. Once the leg is transformed, the remaining 2 degrees of freedom position the foot at a desirable Cartesian point during the transfer or support phase. We analyzed the direct and inverse kinematics developed for the leg when the foot describes a straight line and found some interesting relationships among the motion parameters. The dynamic model equations of motion for the leg were derived from the Lagrangian dynamic formulation to calculate the required torques during a particular transfer phase.

  7. Calibration of neural networks using genetic algorithms, with application to optimal path planning

    Science.gov (United States)

    Smith, Terence R.; Pitney, Gilbert A.; Greenwood, Daniel

    1987-01-01

    Genetic algorithms (GA) are used to search the synaptic weight space of artificial neural systems (ANS) for weight vectors that optimize some network performance function. GAs do not suffer from some of the architectural constraints involved with other techniques and it is straightforward to incorporate terms into the performance function concerning the metastructure of the ANS. Hence GAs offer a remarkably general approach to calibrating ANS. GAs are applied to the problem of calibrating an ANS that finds optimal paths over a given surface. This problem involves training an ANS on a relatively small set of paths and then examining whether the calibrated ANS is able to find good paths between arbitrary start and end points on the surface.

  8. Energy Optimal Path Planning: Integrating Coastal Ocean Modelling with Optimal Control

    Science.gov (United States)

    Subramani, D. N.; Haley, P. J., Jr.; Lermusiaux, P. F. J.

    2016-02-01

    A stochastic optimization methodology is formulated for computing energy-optimal paths from among time-optimal paths of autonomous vehicles navigating in a dynamic flow field. To set up the energy optimization, the relative vehicle speed and headings are considered to be stochastic, and new stochastic Dynamically Orthogonal (DO) level-set equations that govern their stochastic time-optimal reachability fronts are derived. Their solution provides the distribution of time-optimal reachability fronts and corresponding distribution of time-optimal paths. An optimization is then performed on the vehicle's energy-time joint distribution to select the energy-optimal paths for each arrival time, among all stochastic time-optimal paths for that arrival time. The accuracy and efficiency of the DO level-set equations for solving the governing stochastic level-set reachability fronts are quantitatively assessed, including comparisons with independent semi-analytical solutions. Energy-optimal missions are studied in wind-driven barotropic quasi-geostrophic double-gyre circulations, and in realistic data-assimilative re-analyses of multiscale coastal ocean flows. The latter re-analyses are obtained from multi-resolution 2-way nested primitive-equation simulations of tidal-to-mesoscale dynamics in the Middle Atlantic Bight and Shelbreak Front region. The effects of tidal currents, strong wind events, coastal jets, and shelfbreak fronts on the energy-optimal paths are illustrated and quantified. Results showcase the opportunities for longer-duration missions that intelligently utilize the ocean environment to save energy, rigorously integrating ocean forecasting with optimal control of autonomous vehicles.

  9. A New Methodology for Solving Trajectory Planning and Dynamic Load-Carrying Capacity of a Robot Manipulator

    Directory of Open Access Journals (Sweden)

    Wanjin Guo

    2016-01-01

    Full Text Available A new methodology using a direct method for obtaining the best found trajectory planning and maximum dynamic load-carrying capacity (DLCC is presented for a 5-degree of freedom (DOF hybrid robot manipulator. A nonlinear constrained multiobjective optimization problem is formulated with four objective functions, namely, travel time, total energy involved in the motion, joint jerks, and joint acceleration. The vector of decision variables is defined by the sequence of the time-interval lengths associated with each two consecutive via-points on the desired trajectory of the 5-DOF robot generalized coordinates. Then this vector of decision variables is computed in order to minimize the cost function (which is the weighted sum of these four objective functions subject to constraints on joint positions, velocities, acceleration, jerks, forces/torques, and payload mass. Two separate approaches are proposed to deal with the trajectory planning problem and the maximum DLCC calculation for the 5-DOF robot manipulator using an evolutionary optimization technique. The adopted evolutionary algorithm is the elitist nondominated sorting genetic algorithm (NSGA-II. A numerical application is performed for obtaining best found solutions of trajectory planning and maximum DLCC calculation for the 5-DOF hybrid robot manipulator.

  10. Solar-based navigation for robotic explorers

    Science.gov (United States)

    Shillcutt, Kimberly Jo

    2000-12-01

    This thesis introduces the application of solar position and shadowing information to robotic exploration. Power is a critical resource for robots with remote, long-term missions, so this research focuses on the power generation capabilities of robotic explorers during navigational tasks, in addition to power consumption. Solar power is primarily considered, with the possibility of wind power also contemplated. Information about the environment, including the solar ephemeris, terrain features, time of day, and surface location, is incorporated into a planning structure, allowing robots to accurately predict shadowing and thus potential costs and gains during navigational tasks. By evaluating its potential to generate and expend power, a robot can extend its lifetime and accomplishments. The primary tasks studied are coverage patterns, with a variety of plans developed for this research. The use of sun, terrain and temporal information also enables new capabilities of identifying and following sun-synchronous and sun-seeking paths. Digital elevation maps are combined with an ephemeris algorithm to calculate the altitude and azimuth of the sun from surface locations, and to identify and map shadows. Solar navigation path simulators use this information to perform searches through two-dimensional space, while considering temporal changes. Step by step simulations of coverage patterns also incorporate time in addition to location. Evaluations of solar and wind power generation, power consumption, area coverage, area overlap, and time are generated for sets of coverage patterns, with on-board environmental information linked to the simulations. This research is implemented on the Nomad robot for the Robotic Antarctic Meteorite Search. Simulators have been developed for coverage pattern tests, as well as for sun-synchronous and sun-seeking path searches. Results of field work and simulations are reported and analyzed, with demonstrated improvements in efficiency

  11. Solving a Class of Spatial Reasoning Problems: Minimal-Cost Path Planning in the Cartesian Plane.

    Science.gov (United States)

    1987-06-01

    as in Figure 72. By the Theorem of Pythagoras : Z1 <a z 2 < C Yl(bl+b 2)uI, the cost of going along (a,b,c) is greater that the...preceding lemmas to an indefinite number of boundary-crossing episodes is accomplished by the following theorems . Theorem 1 extends the result of Lemma 1... Theorem 1: Any two Snell’s-law paths within a K-explored wedge defined by Snell’s-law paths RL and R. do not intersect within the K-explored portion of

  12. Smooth Jerk-Bounded Optimal Path Planning of Tricycle Wheeled Mobile Manipulators in the Presence of Environmental Obstacles

    Directory of Open Access Journals (Sweden)

    Moharam Habibnejad Korayem

    2012-10-01

    Full Text Available In this work, a computational algorithm is developed for the smooth-jerk optimal path planning of tricycle wheeled mobile manipulators in an obstructed environment. Due to a centred orientable wheel, the tricycle mobile manipulator exhibits more steerability and manoeuvrability over traditional mobile manipulators, especially in the presence of environmental obstacles. This paper presents a general formulation based on the combination of the potential field method and optimal control theory in order to plan the smooth point-to-point path of the tricycle mobile manipulators. The nonholonomic constraints of the tricycle mobile base are taken into account in the dynamic formulation of the system and then the optimality conditions are derived considering jerk restrictions and obstacle avoidance. Furthermore, by means of the potential field method, a new formulation of a repulsive potential function is proposed for collision avoidance between any obstacle and each part of the mobile manipulator. In addition, to ensure the accurate placement of the end effector on the target point an attractive potential function is applied to the optimal control formulation. Next, a mixed analytical-numerical algorithm is proposed to generate the point-to-point optimal path. Finally, the proposed method is verified by a number of simulations on a two-link tricycle manipulator.

  13. Self-repairing control for damaged robotic manipulators

    International Nuclear Information System (INIS)

    Eisler, G.R.; Robinett, R.D.; Dohrmann, C.R.; Driessen, B.J.

    1997-03-01

    Algorithms have been developed allowing operation of robotic systems under damaged conditions. Specific areas addressed were optimal sensor location, adaptive nonlinear control, fault-tolerant robot design, and dynamic path-planning. A seven-degree-of-freedom, hydraulic manipulator, with fault-tolerant joint design was also constructed and tested. This report completes this project which was funded under the Laboratory Directed Research and Development program

  14. Mobile-robot navigation with complete coverage of unstructured environments

    OpenAIRE

    García Armada, Elena; González de Santos, Pablo

    2004-01-01

    There are some mobile-robot applications that require the complete coverage of an unstructured environment. Examples are humanitarian de-mining and floor-cleaning tasks. A complete-coverage algorithm is then used, a path-planning technique that allows the robot to pass over all points in the environment, avoiding unknown obstacles. Different coverage algorithms exist, but they fail working in unstructured environments. This paper details a complete-coverage algorithm for unstructured environm...

  15. Human-like robots for space and hazardous environments

    Science.gov (United States)

    1994-01-01

    The three year goal for the Kansas State USRA/NASA Senior Design team is to design and build a walking autonomous robotic rover. The rover should be capable of crossing rough terrain, traversing human made obstacles (such as stairs and doors), and moving through human and robot occupied spaces without collision. The rover is also to evidence considerable decision making ability, navigation, and path planning skills.

  16. Presentation of a Modified Boustrophedon Decomposition Algorithm for Optimal Configuration of Flat Fields to use in Path Planning Systems of Agricultural Vehicles

    Directory of Open Access Journals (Sweden)

    R Goudarzi

    2018-03-01

    Full Text Available Introduction The demand of pre-determined optimal coverage paths in agricultural environments have been increased due to the growing application of field robots and autonomous field machines. Also coverage path planning problem (CPP has been extensively studied in robotics and many algorithms have been provided in many topics, but differences and limitations in agriculture lead to several different heuristic and modified adaptive methods from robotics. In this paper, a modified and enhanced version of currently used decomposition algorithm in robotics (boustrophedon cellular decomposition has been presented as a main part of path planning systems of agricultural vehicles. Developed algorithm is based on the parallelization of the edges of the polygon representing the environment to satisfy the requirements of the problem as far as possible. This idea is based on "minimum facing to the cost making condition" in turn, it is derived from encounter concept as a basis of cost making factors. Materials and Methods Generally, a line termed as a slice in boustrophedon cellular decomposition (BCD, sweeps an area in a pre-determined direction and decomposes the area only at critical points (where two segments can be extended to top and bottom of the point. Furthermore, sweep line direction does not change until the decomposition finish. To implement the BCD for parallelization method, two modifications were applied in order to provide a modified version of the boustrophedon cellular decomposition (M-BCD. In the first modification, the longest edge (base edge is targeted, and sweep line direction is set in line with the base edge direction (sweep direction is set perpendicular to the sweep line direction. Then Sweep line moves through the environment and stops at the first (nearest critical point. Next sweep direction will be the same as previous, If the length of those polygon's newly added edges, during the decomposition, are less than or equal to the

  17. Cloud Droplet Size and Liquid Water Path Retrievals From Zenith Radiance Measurements: Examples From the Atmospheric Radiation Measurement Program and the Aerosol Robotic Network

    Science.gov (United States)

    Chiu, J. C.; Marshak, A.; Huang, C.-H.; Varnai, T.; Hogan, R. J.; Giles, D. M.; Holben, B. N.; Knyazikhin, Y.; O'Connor, E. J.; Wiscombe, W. J.

    2012-01-01

    The ground-based Atmospheric Radiation Measurement Program (ARM) and NASA Aerosol Robotic Network (AERONET) routinely monitor clouds using zenith radiances at visible and near-infrared wavelengths. Using the transmittance calculated from such measurements, we have developed a new retrieval method for cloud effective droplet size and conducted extensive tests for non-precipitating liquid water clouds. The underlying principle is to combine a water-absorbing wavelength (i.e. 1640 nm) with a nonwater-absorbing wavelength for acquiring information on cloud droplet size and optical depth. For simulated stratocumulus clouds with liquid water path less than 300 g/sq m and horizontal resolution of 201m, the retrieval method underestimates the mean effective radius by 0.8 m, with a root-mean-squared error of 1.7 m and a relative deviation of 13 %. For actual observations with a liquid water path less than 450 gm.2 at the ARM Oklahoma site during 2007-2008, our 1.5 min-averaged retrievals are generally larger by around 1 m than those from combined ground-based cloud radar and microwave radiometer at a 5min temporal resolution. We also compared our retrievals to those from combined shortwave flux and microwave observations for relatively homogeneous clouds, showing that the bias between these two retrieval sets is negligible, but the error of 2.6 m and the relative deviation of 22% are larger than those found in our simulation case. Finally, the transmittance-based cloud effective droplet radii agree to better than 11% with satellite observations and have a negative bias of 1 m. Overall, the retrieval method provides reasonable cloud effective radius estimates, which can enhance the cloud products of both ARM and AERONET.

  18. Critical path method applied to research project planning: Fire Economics Evaluation System (FEES)

    Science.gov (United States)

    Earl B. Anderson; R. Stanton Hales

    1986-01-01

    The critical path method (CPM) of network analysis (a) depicts precedence among the many activities in a project by a network diagram; (b) identifies critical activities by calculating their starting, finishing, and float times; and (c) displays possible schedules by constructing time charts. CPM was applied to the development of the Forest Service's Fire...

  19. Treatment planning for MLC based robotic radiosurgery for brain metastases: plan comparison with circular fields and suggestions for planning strategies

    Directory of Open Access Journals (Sweden)

    Schmitt Daniela

    2017-09-01

    Full Text Available To evaluate the possible range of application of the new InCise2 MLC for the CyberKnife M6 system in brain radiosurgery, a plan comparison was made for 10 brain metastases sized between 1.5 and 9cm3 in 10 patients treated in a single fraction each. The target volumes consist of a PTV derived by expanding the GTV by 1mm and were chosen to have diversity in the cohort regarding regularity of shape, location and the structures needed to be blocked for beam transmission in the vicinity. For each case, two treatment plans were optimized: one using the MLC and one using the IRIS-collimator providing variable circular fields. Plan re-quirements were: dose prescription to the 70% isodose line (18 or 20Gy, 100% GTV coverage, ≥98% PTV coverage, undisturbed central high dose region (95% of maximum dose and a conformity index as low as possible. Plan com-parison parameters were: conformity index (CI, high-dose gradient index (GIH, low-dose gradient index (GIL, total number of monitor units (MU and expected treatment time (TT. For all cases, clinically acceptable plans could be gen-erated with the following results (mean±SD for CI, GIH, GIL, MU and TT, respectively for the MLC plans: 1.09±0.03, 2.77±0.26, 2.61±0.08, 4514±830MU and 27±5min and for the IRIS plans: 1.05±0.01, 3.00±0.35, 2.46±0.08, 8557±1335MU and 42±7min. In summary, the MLC plans were on average less conformal and had a shallower dose gradient in the low dose region, but a steeper dose gradient in the high dose region. This is accompanied by a smaller vol-ume receiving 10Gy. A plan by plan comparison shows that usage of the MLC can spare about one half of the MUs and one third of treatment time. From these experiences and results suggestions for MLC planning strategy can be de-duced.

  20. The application of Markov decision process in restaurant delivery robot

    Science.gov (United States)

    Wang, Yong; Hu, Zhen; Wang, Ying

    2017-05-01

    As the restaurant delivery robot is often in a dynamic and complex environment, including the chairs inadvertently moved to the channel and customers coming and going. The traditional path planning algorithm is not very ideal. To solve this problem, this paper proposes the Markov dynamic state immediate reward (MDR) path planning algorithm according to the traditional Markov decision process. First of all, it uses MDR to plan a global path, then navigates along this path. When the sensor detects there is no obstructions in front state, increase its immediate state reward value; when the sensor detects there is an obstacle in front, plan a global path that can avoid obstacle with the current position as the new starting point and reduce its state immediate reward value. This continues until the target is reached. When the robot learns for a period of time, it can avoid those places where obstacles are often present when planning the path. By analyzing the simulation experiment, the algorithm has achieved good results in the global path planning under the dynamic environment.

  1. Virtual reality based support system for layout planning and programming of an industrial robotic work cell.

    Directory of Open Access Journals (Sweden)

    Hwa Jen Yap

    Full Text Available Traditional robotic work cell design and programming are considered inefficient and outdated in current industrial and market demands. In this research, virtual reality (VR technology is used to improve human-robot interface, whereby complicated commands or programming knowledge is not required. The proposed solution, known as VR-based Programming of a Robotic Work Cell (VR-Rocell, consists of two sub-programmes, which are VR-Robotic Work Cell Layout (VR-RoWL and VR-based Robot Teaching System (VR-RoT. VR-RoWL is developed to assign the layout design for an industrial robotic work cell, whereby VR-RoT is developed to overcome safety issues and lack of trained personnel in robot programming. Simple and user-friendly interfaces are designed for inexperienced users to generate robot commands without damaging the robot or interrupting the production line. The user is able to attempt numerous times to attain an optimum solution. A case study is conducted in the Robotics Laboratory to assemble an electronics casing and it is found that the output models are compatible with commercial software without loss of information. Furthermore, the generated KUKA commands are workable when loaded into a commercial simulator. The operation of the actual robotic work cell shows that the errors may be due to the dynamics of the KUKA robot rather than the accuracy of the generated programme. Therefore, it is concluded that the virtual reality based solution approach can be implemented in an industrial robotic work cell.

  2. Virtual Reality Based Support System for Layout Planning and Programming of an Industrial Robotic Work Cell

    Science.gov (United States)

    Yap, Hwa Jen; Taha, Zahari; Md Dawal, Siti Zawiah; Chang, Siow-Wee

    2014-01-01

    Traditional robotic work cell design and programming are considered inefficient and outdated in current industrial and market demands. In this research, virtual reality (VR) technology is used to improve human-robot interface, whereby complicated commands or programming knowledge is not required. The proposed solution, known as VR-based Programming of a Robotic Work Cell (VR-Rocell), consists of two sub-programmes, which are VR-Robotic Work Cell Layout (VR-RoWL) and VR-based Robot Teaching System (VR-RoT). VR-RoWL is developed to assign the layout design for an industrial robotic work cell, whereby VR-RoT is developed to overcome safety issues and lack of trained personnel in robot programming. Simple and user-friendly interfaces are designed for inexperienced users to generate robot commands without damaging the robot or interrupting the production line. The user is able to attempt numerous times to attain an optimum solution. A case study is conducted in the Robotics Laboratory to assemble an electronics casing and it is found that the output models are compatible with commercial software without loss of information. Furthermore, the generated KUKA commands are workable when loaded into a commercial simulator. The operation of the actual robotic work cell shows that the errors may be due to the dynamics of the KUKA robot rather than the accuracy of the generated programme. Therefore, it is concluded that the virtual reality based solution approach can be implemented in an industrial robotic work cell. PMID:25360663

  3. Critical path method as the criterion for optimization of business planning process

    OpenAIRE

    Butsenko Elena V.

    2016-01-01

    In today's economy the task of improving business planning is considered a necessary component of any enterprise management process and is precisely the solution drawn from that task which determines the financial policy and economic structure. The development of technologies based on the optimization of business planning is a very urgent scientific challenge. In this paper we propose to use the methods of network planning and management as a tool for economic and mathematical modeling to...

  4. Robotics Potential Fields

    Directory of Open Access Journals (Sweden)

    Jordi Lucero

    2009-01-01

    Full Text Available This problem was to calculate the path a robot would take to navigate an obstacle field and get to its goal. Three obstacles were given as negative potential fields which the robot avoided, and a goal was given a positive potential field that attracted the robot. The robot decided each step based on its distance, angle, and influence from every object. After each step, the robot recalculated and determined its next step until it reached its goal. The robot's calculations and steps were simulated with Microsoft Excel.

  5. Redundant manipulator techniques for partially decentralized path planning and control of a platoon of autonomous vehicles.

    Science.gov (United States)

    Stilwell, Daniel J; Bishop, Bradley E; Sylvester, Caleb A

    2005-08-01

    An approach to real-time trajectory generation for platoons of autonomous vehicles is developed from well-known control techniques for redundant robotic manipulators. The partially decentralized structure of this approach permits each vehicle to independently compute its trajectory in real-time using only locally generated information and low-bandwidth feedback generated by a system exogenous to the platoon. Our work is motivated by applications for which communications bandwidth is severely limited, such for platoons of autonomous underwater vehicles. The communication requirements for our trajectory generation approach are independent of the number of vehicles in the platoon, enabling platoons composed of a large number of vehicles to be coordinated despite limited communication bandwidth.

  6. Human-machine Interface for Presentation Robot

    Czech Academy of Sciences Publication Activity Database

    Krejsa, Jiří; Ondroušek, V.

    2012-01-01

    Roč. 6, č. 2 (2012), s. 17-21 ISSN 1897-8649 Institutional research plan: CEZ:AV0Z20760514 Keywords : human-robot interface * mobile robot * presentation robot Subject RIV: JD - Computer Applications, Robotics

  7. Self-Reconfiguration Planning of Robot Embodiment for Inherent Safe Performance

    Science.gov (United States)

    Uchida, Masafumi; Nozawa, Akio; Asano, Hirotoshi; Onogaki, Hitoshi; Mizuno, Tota; Park, Young-Il; Ide, Hideto; Yokoyama, Shuichi

    In the situation in which a robot and a human work together by collaborating with each other, a robot and a human share one working environment, and each interferes in each other. In other ward, it is impossible to avoid the physical contact and the interaction of force between a robot and a human. The boundary of each complex dynamic occupation area changes in the connection movement which is the component of collaborative works at this time. The main restraint condition which relates to the robustness of that connection movement is each physical charactristics, that is, the embodiment. A robot body is variability though the embodiment of a human is almost fixed. Therefore, the safe and the robust connection movement is brought when a robot has the robot body which is well suitable for the embodiment of a human. A purpose for this research is that the colaboration works between the self-reconfiguration robot and a human is realized. To achieve this purpose, a self-reconfiguration algorithm based on some indexes to evaluate a robot body in the macroscopic point of view was examined on a modular robot system of the 2-D lattice structure. In this paper, it investigated effect specially that the object of learning of each individual was limited to the cooperative behavior between the adjoining modules toward the macroscopic evaluation index.

  8. A biomimetic, energy-harvesting, obstacle-avoiding, path-planning algorithm for UAVs

    Science.gov (United States)

    Gudmundsson, Snorri

    This dissertation presents two new approaches to energy harvesting for Unmanned Aerial Vehicles (UAV). One method is based on the Potential Flow Method (PFM); the other method seeds a wind-field map based on updraft peak analysis and then applies a variant of the Bellman-Ford algorithm to find the minimum-cost path. Both methods are enhanced by taking into account the performance characteristics of the aircraft using advanced performance theory. The combined approach yields five possible trajectories from which the one with the minimum energy cost is selected. The dissertation concludes by using the developed theory and modeling tools to simulate the flight paths of two small Unmanned Aerial Vehicles (sUAV) in the 500 kg and 250 kg class. The results show that, in mountainous regions, substantial energy can be recovered, depending on topography and wind characteristics. For the examples presented, as much as 50% of the energy was recovered for a complex, multi-heading, multi-altitude, 170 km mission in an average wind speed of 9 m/s. The algorithms constitute a Generic Intelligent Control Algorithm (GICA) for autonomous unmanned aerial vehicles that enables an extraction of atmospheric energy while completing a mission trajectory. At the same time, the algorithm. automatically adjusts the flight path in order to avoid obstacles, in a fashion not unlike what one would expect from living organisms, such as birds and insects. This multi-disciplinary approach renders the approach biomimetic, i.e. it constitutes a synthetic system that “mimics the formation and function of biological mechanisms and processes.”.

  9. Plans to Observe the 2017 Total Solar Eclipse from near the Path Edges

    Science.gov (United States)

    Waring Dunham, David; Nugent, Richard; Guhl, Konrad; Bode, Hans-Joachim

    2015-08-01

    The August 21st, 2017 solar eclipse provides a good opportunity, to time the totality contacts, other Baily’s bead phenomena, and observe other dynamic edge phenomena, from locations near the edges of the path of totality. A good network of roads and generally favorable weather prospects means that more observers will likely be able to deploy more equipment than during most previous eclipses. The value of contact and Baily’s bead timings of total solar eclipses, for determining solar diameter and intensity variations, was described in an earlier presentation in Focus Meeting 13. This presentation will concentrate on how observations of different types that have been used during past eclipses can be made by different observers, to obtain better information about the accuracy of the different types of observations for determining the mean solar diameter, and the systematic differences between them. A problem has been that the few observers who have attempted recording Baily’s beads from path edge locations have wanted to use the latest technology, to try to record the observations better, rather than try to make the observations in the same ways that were used for many past eclipses. Several observers trying different techniques at the same location, and doing that at several locations at different places along the path, is needed. Past techniques that we would like to compare include direct visual observation (but keeping eye safety in mind); visual observation of telescopically projected images; direct filtered video telescopic observations; and recording the flash spectrum. There are several towns that straddle the path edges. The International Occultation Timing Association would like to mobilize people in those towns to observe the eclipse from many places, to say whether or not the eclipse happened, and if it did, time it. A suitable cell phone app could be designed to report observations, including the observer’s location, as was attempted for an

  10. Risk-Aware Planetary Rover Operation: Autonomous Terrain Classification and Path Planning

    Science.gov (United States)

    Ono, Masahiro; Fuchs, Thoams J.; Steffy, Amanda; Maimone, Mark; Yen, Jeng

    2015-01-01

    Identifying and avoiding terrain hazards (e.g., soft soil and pointy embedded rocks) are crucial for the safety of planetary rovers. This paper presents a newly developed groundbased Mars rover operation tool that mitigates risks from terrain by automatically identifying hazards on the terrain, evaluating their risks, and suggesting operators safe paths options that avoids potential risks while achieving specified goals. The tool will bring benefits to rover operations by reducing operation cost, by reducing cognitive load of rover operators, by preventing human errors, and most importantly, by significantly reducing the risk of the loss of rovers.

  11. Vision-based mapping with cooperative robots

    Science.gov (United States)

    Little, James J.; Jennings, Cullen; Murray, Don

    1998-10-01

    Two stereo-vision-based mobile robots navigate and autonomously explore their environment safely while building occupancy grid maps of the environment. The robots maintain position estimates within a global coordinate frame using landmark recognition. This allows them to build a common map by sharing position information and stereo data. Stereo vision processing and map updates are done at 3 Hz and the robots move at speeds of 200 cm/s. Cooperative mapping is achieved through autonomous exploration of unstructured and dynamic environments. The map is constructed conservatively, so as to be useful for collision-free path planning. Each robot maintains a separate copy of a shared map, and then posts updates to the common map when it returns to observe a landmark at home base. Issues include synchronization, mutual localization, navigation, exploration, registration of maps, merging repeated views (fusion), centralized vs decentralized maps.

  12. A plan for time-phased incorporation of automation and robotics on the US space station

    Science.gov (United States)

    Purves, R. B.; Lin, P. S.; Fisher, E. M., Jr.

    1988-01-01

    A plan for the incorporation of Automation and Robotics technology on the Space Station is presented. The time phased introduction of twenty two selected candidates is set forth in accordance with a technology development forecast. Twenty candidates were chosed primarily for their potential to relieve the crew of mundane or dangerous operations and maintenance burdens, thus freeing crew time for mission duties and enhancing safety. Two candidates were chosen based on a potential for increasing the productivity of laboratory experiments and thus directly enhancing the scientific value of the Space Station. A technology assessment for each candidate investigates present state of the art, development timelines including space qualification considerations, and potential for technology transfer to earth applications. Each candidate is evaluated using a crew workload model driven by crew size, number of pressurized U.S. modules and external payloads, which makes it possible to assess the impact of automation during a growth scenario. Costs for each increment of implementation are estimated and accumulated.

  13. Planning of a supply chain for anti-personal landmine disposal by means of robots

    Directory of Open Access Journals (Sweden)

    Rafael Guillermo García-Cáceres

    2012-09-01

    Full Text Available The current paper presents a Mixed-Integer-Linear Programming Model (MIP which incorporates strategic and tactical management decisions into the supply chain of an anti-personal landmine robotic detection and disposal system. Originally based on a mixed-integer-non-linear programming model (MINLP with stochastic elements, of which it is an approximation, the MIP model is obtained by means of two solution procedures that include redefining variables, treating stochastic and non-linear constraints, and incorporating valid constraints. The model included considerations such as uncertain procurement, stochastic inventories in plants, production scales, supply-production-distribution capacities, particular distribution-production infrastructure, locationallocation considerations, stochastic demand, and BOM. Additionally, the models detail optimal helicopter operation by considering each period’s trip frequency during the planning horizon. Finally, a sensibility analysis of the way in which parameters variations affect overall costs is presented. The suggested solution procedure is considered satisfactory in terms of time for the analyzed example.

  14. Reaction-diffusion path planning in a hybrid chemical and cellular-automaton processor

    International Nuclear Information System (INIS)

    Adamatzky, Andrew; Lacy Costello, Benjamin de

    2003-01-01

    To find the shortest collision-free path in a room containing obstacles we designed a chemical processor and coupled it with a cellular-automaton processor. In the chemical processor obstacles are represented by sites of high concentration of potassium iodide and a planar substrate is saturated with palladium chloride. Potassium iodide diffuses into the substrate and reacts with palladium chloride. A dark coloured precipitate of palladium iodide is formed almost everywhere except sites where two or more diffusion wavefronts collide. The less coloured sites are situated at the furthest distance from obstacles. Thus, the chemical processor develops a repulsive field, generated by obstacles. A snapshot of the chemical processor is inputted to a cellular automaton. The automaton behaves like a discrete excitable media; also, every cell of the automaton is supplied with a pointer that shows an origin of the cell's excitation. The excitation spreads along the cells corresponding to precipitate depleted sites of the chemical processor. When the destination-site is excited, waves travel on the lattice and update the orientations of the pointers. Thus, the automaton constructs a spanning tree, made of pointers, that guides a traveler towards the destination point. Thus, the automaton medium generates an attractive field and combination of this attractive field with the repulsive field, generated by the chemical processor, provides us with a solution of the collision-free path problem

  15. 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....

  16. Treatment planning for MLC based robotic radiosurgery for brain metastases: plan comparison with circular fields and suggestions for planning strategies

    OpenAIRE

    Schmitt Daniela; El Shafie Rami; Klüter Sebastian; Arians Nathalie; Schubert Kai; Rieken Stefan; Debus Jürgen; Paul Angela

    2017-01-01

    To evaluate the possible range of application of the new InCise2 MLC for the CyberKnife M6 system in brain radiosurgery, a plan comparison was made for 10 brain metastases sized between 1.5 and 9cm3 in 10 patients treated in a single fraction each. The target volumes consist of a PTV derived by expanding the GTV by 1mm and were chosen to have diversity in the cohort regarding regularity of shape, location and the structures needed to be blocked for beam transmission in the vicinity. For each ...

  17. R&D Plan for Army Applications of AI/Robotics.

    Science.gov (United States)

    1982-05-01

    Unilever , Philips, Toshiba, and Hamamatsu. Also emerging are companies that are developing artificial intelligence and/or robotics products. U.S...ROBOTICS.. . . . ..... 83 3.1. Introduction. . . . . ...... ... ... ... . .... 83 3.2. Background .. . . . . ...... ... ... . . .... 84 3.3. A Unified...Honeywell Systems and Research Center Hughes Research Laboratories Lockheed Missiles and Space Company Martin Marietta Corporation The Rand Corporation

  18. Strategic management planning and implementation at the milking robot dairy farm

    NARCIS (Netherlands)

    Devir, S.; Maltz, E.; Metz, J.H.M.

    1997-01-01

    The milking robot is more than a tool to relieve the farmer of the substantial daily work associated with the milking process. Current technologies offer the possibility of increasing production efficiency by combining individual milking and feeding strategies. Although the milking robot can be

  19. A Model Based Approach to Increase the Part Accuracy in Robot Based Incremental Sheet Metal Forming

    International Nuclear Information System (INIS)

    Meier, Horst; Laurischkat, Roman; Zhu Junhong

    2011-01-01

    One main influence on the dimensional accuracy in robot based incremental sheet metal forming results from the compliance of the involved robot structures. Compared to conventional machine tools the low stiffness of the robot's kinematic results in a significant deviation of the planned tool path and therefore in a shape of insufficient quality. To predict and compensate these deviations offline, a model based approach, consisting of a finite element approach, to simulate the sheet forming, and a multi body system, modeling the compliant robot structure, has been developed. This paper describes the implementation and experimental verification of the multi body system model and its included compensation method.

  20. An ultrasonic sensor controller for mapping and servo control in robotic systems

    International Nuclear Information System (INIS)

    Drotning, W.D.; Garcia, P. Jr.

    1993-03-01

    An ultrasonic sensor controller has been developed and applied in a variety of robotic systems for operation in hazardous environments. The controller consists of hardware and software that control multiple ultrasonic range sensors and provide workspace information to robot controllers for rapid, safe, and reliable operation in hazardous and remote environments. The hardware consists of a programmable multichannel controller that resides on a VMEbus for high speed communication to a multiprocessor architecture. The sensor controller has been used in a number of applications, which include providing high precision range information for proximity servo control of robots, and performing surface and obstacle mapping functions for safe path planning of robots in unstructured environments

  1. Multi-scale path planning for reduced environmental impact of aviation

    Science.gov (United States)

    Campbell, Scot Edward

    A future air traffic management system capable of rerouting aircraft trajectories in real-time in response to transient and evolving events would result in increased aircraft efficiency, better utilization of the airspace, and decreased environmental impact. Mixed-integer linear programming (MILP) is used within a receding horizon framework to form aircraft trajectories which mitigate persistent contrail formation, avoid areas of convective weather, and seek a minimum fuel solution. Areas conducive to persistent contrail formation and areas of convective weather occur at disparate temporal and spatial scales, and thereby require the receding horizon controller to be adaptable to multi-scale events. In response, a novel adaptable receding horizon controller was developed to account for multi-scale disturbances, as well as generate trajectories using both a penalty function approach for obstacle penetration and hard obstacle avoidance constraints. A realistic aircraft fuel burn model based on aircraft data and engine performance simulations is used to form the cost function in the MILP optimization. The performance of the receding horizon algorithm is tested through simulation. A scalability analysis of the algorithm is conducted to ensure the tractability of the path planner. The adaptable receding horizon algorithm is shown to successfully negotiate multi-scale environments with performance exceeding static receding horizon solutions. The path planner is applied to realistic scenarios involving real atmospheric data. A single flight example for persistent contrail mitigation shows that fuel burn increases 1.48% when approximately 50% of persistent contrails are avoided, but 6.19% when 100% of persistent contrails are avoided. Persistent contrail mitigating trajectories are generated for multiple days of data, and the research shows that 58% of persistent contrails are avoided with a 0.48% increase in fuel consumption when averaged over a year.

  2. The application of Markov decision process with penalty function in restaurant delivery robot

    Science.gov (United States)

    Wang, Yong; Hu, Zhen; Wang, Ying

    2017-05-01

    As the restaurant delivery robot is often in a dynamic and complex environment, including the chairs inadvertently moved to the channel and customers coming and going. The traditional Markov decision process path planning algorithm is not save, the robot is very close to the table and chairs. To solve this problem, this paper proposes the Markov Decision Process with a penalty term called MDPPT path planning algorithm according to the traditional Markov decision process (MDP). For MDP, if the restaurant delivery robot bumps into an obstacle, the reward it receives is part of the current status reward. For the MDPPT, the reward it receives not only the part of the current status but also a negative constant term. Simulation results show that the MDPPT algorithm can plan a more secure path.

  3. Human motion behavior while interacting with an industrial robot.

    Science.gov (United States)

    Bortot, Dino; Ding, Hao; Antonopolous, Alexandros; Bengler, Klaus

    2012-01-01

    Human workers and industrial robots both have specific strengths within industrial production. Advantageously they complement each other perfectly, which leads to the development of human-robot interaction (HRI) applications. Bringing humans and robots together in the same workspace may lead to potential collisions. The avoidance of such is a central safety requirement. It can be realized with sundry sensor systems, all of them decelerating the robot when the distance to the human decreases alarmingly and applying the emergency stop, when the distance becomes too small. As a consequence, the efficiency of the overall systems suffers, because the robot has high idle times. Optimized path planning algorithms have to be developed to avoid that. The following study investigates human motion behavior in the proximity of an industrial robot. Three different kinds of encounters between the two entities under three robot speed levels are prompted. A motion tracking system is used to capture the motions. Results show, that humans keep an average distance of about 0,5m to the robot, when the encounter occurs. Approximation of the workbenches is influenced by the robot in ten of 15 cases. Furthermore, an increase of participants' walking velocity with higher robot velocities is observed.

  4. ROBOT TASK SCENE ANALYZER

    International Nuclear Information System (INIS)

    Hamel, William R.; Everett, Steven

    2000-01-01

    Environmental restoration and waste management (ER and WM) challenges in the United States Department of Energy (DOE), and around the world, involve radiation or other hazards which will necessitate the use of remote operations to protect human workers from dangerous exposures. Remote operations carry the implication of greater costs since remote work systems are inherently less productive than contact human work due to the inefficiencies/complexities of teleoperation. To reduce costs and improve quality, much attention has been focused on methods to improve the productivity of combined human operator/remote equipment systems; the achievements to date are modest at best. The most promising avenue in the near term is to supplement conventional remote work systems with robotic planning and control techniques borrowed from manufacturing and other domains where robotic automation has been used. Practical combinations of teleoperation and robotic control will yield telerobotic work systems that outperform currently available remote equipment. It is believed that practical telerobotic systems may increase remote work efficiencies significantly. Increases of 30% to 50% have been conservatively estimated for typical remote operations. It is important to recognize that the basic hardware and software features of most modern remote manipulation systems can readily accommodate the functionality required for telerobotics. Further, several of the additional system ingredients necessary to implement telerobotic control--machine vision, 3D object and workspace modeling, automatic tool path generation and collision-free trajectory planning--are existent

  5. ROBOT TASK SCENE ANALYZER

    Energy Technology Data Exchange (ETDEWEB)

    William R. Hamel; Steven Everett

    2000-08-01

    Environmental restoration and waste management (ER and WM) challenges in the United States Department of Energy (DOE), and around the world, involve radiation or other hazards which will necessitate the use of remote operations to protect human workers from dangerous exposures. Remote operations carry the implication of greater costs since remote work systems are inherently less productive than contact human work due to the inefficiencies/complexities of teleoperation. To reduce costs and improve quality, much attention has been focused on methods to improve the productivity of combined human operator/remote equipment systems; the achievements to date are modest at best. The most promising avenue in the near term is to supplement conventional remote work systems with robotic planning and control techniques borrowed from manufacturing and other domains where robotic automation has been used. Practical combinations of teleoperation and robotic control will yield telerobotic work systems that outperform currently available remote equipment. It is believed that practical telerobotic systems may increase remote work efficiencies significantly. Increases of 30% to 50% have been conservatively estimated for typical remote operations. It is important to recognize that the basic hardware and software features of most modern remote manipulation systems can readily accommodate the functionality required for telerobotics. Further, several of the additional system ingredients necessary to implement telerobotic control--machine vision, 3D object and workspace modeling, automatic tool path generation and collision-free trajectory planning--are existent.

  6. 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.

  7. Development and human factors analysis of an augmented reality interface for multi-robot tele-operation and control

    Science.gov (United States)

    Lee, Sam; Lucas, Nathan P.; Ellis, R. Darin; Pandya, Abhilash

    2012-06-01

    This paper presents a seamlessly controlled human multi-robot system comprised of ground and aerial robots of semiautonomous nature for source localization tasks. The system combines augmented reality interfaces capabilities with human supervisor's ability to control multiple robots. The role of this human multi-robot interface is to allow an operator to control groups of heterogeneous robots in real time in a collaborative manner. It used advanced path planning algorithms to ensure obstacles are avoided and that the operators are free for higher-level tasks. Each robot knows the environment and obstacles and can automatically generate a collision-free path to any user-selected target. It displayed sensor information from each individual robot directly on the robot in the video view. In addition, a sensor data fused AR view is displayed which helped the users pin point source information or help the operator with the goals of the mission. The paper studies a preliminary Human Factors evaluation of this system in which several interface conditions are tested for source detection tasks. Results show that the novel Augmented Reality multi-robot control (Point-and-Go and Path Planning) reduced mission completion times compared to the traditional joystick control for target detection missions. Usability tests and operator workload analysis are also investigated.

  8. Motion Planning for Omnidirectional Wheeled Mobile Robot by Potential Field Method

    Directory of Open Access Journals (Sweden)

    Weihao Li

    2017-01-01

    Full Text Available In this paper, potential field method has been used to navigate a three omnidirectional wheels’ mobile robot and to avoid obstacles. The potential field method is used to overcome the local minima problem and the goals nonreachable with obstacles nearby (GNRON problem. For further consideration, model predictive control (MPC has been used to incorporate motion constraints and make the velocity more realistic and flexible. The proposed method is employed based on the kinematic model and dynamics model of the mobile robot in this paper. To show the performance of proposed control scheme, simulation studies have been carried to perform the motion process of mobile robot in specific workplace.

  9. Trajectory generation for car-like robots

    International Nuclear Information System (INIS)

    Vasseur, H.A.; Pin, F.G.

    1990-01-01

    Autonomous robots or remotely operated vehicles have raised high hopes in the military and industrial communities because of the potential safety improvement and gain of productivity they may provide. Waste management on nuclear sites, pallet manipulation in factories, interventions on battlefields, etc., are actively studied. A lot of these applications require powerful four-wheel vehicles, the kinematics of which is similar to that of a car. Such vehicles have three degrees of freedom: the (x,y) positions in a plane and the orientation of the vehicle. Path planning is often understood as only changing the position of the vehicle, whereas the tasks performed by this kind of robot require a perfect orientation of the vehicle: forklifting a pallet or docking at a loading or unloading station requires accuracy in the orientation of the vehicle. It is this requirement and the kinematic constraints of the motion mode that have led to the path-planning algorithm presented in this paper

  10. Cooperative Robot Teams Applied to the Site Preparation Task

    International Nuclear Information System (INIS)

    Parker, LE

    2001-01-01

    Prior to human missions to Mars, infrastructures on Mars that support human survival must be prepared. robotic teams can assist in these advance preparations in a number of ways. This paper addresses one of these advance robotic team tasks--the site preparation task--by proposing a control structure that allows robot teams to cooperatively solve this aspect of infrastructure preparation. A key question in this context is determining how robots should make decisions on which aspect of the site preparation t6ask to address throughout the mission, especially while operating in rough terrains. This paper describes a control approach to solving this problem that is based upon the ALLIANCE architecture, combined with performance-based rough terrain navigation that addresses path planning and control of mobile robots in rough terrain environments. They present the site preparation task and the proposed cooperative control approach, followed by some of the results of the initial testing of various aspects of the system

  11. An Approximation Approach for Solving the Subpath Planning Problem

    OpenAIRE

    Safilian, Masoud; Tashakkori, S. Mehdi; Eghbali, Sepehr; Safilian, Aliakbar

    2016-01-01

    The subpath planning problem is a branch of the path planning problem, which has widespread applications in automated manufacturing process as well as vehicle and robot navigation. This problem is to find the shortest path or tour subject for travelling a set of given subpaths. The current approaches for dealing with the subpath planning problem are all based on meta-heuristic approaches. It is well-known that meta-heuristic based approaches have several deficiencies. To address them, we prop...

  12. Optimal multi-agent path planning for fast inverse modeling in UAV-based flood sensing applications

    KAUST Repository

    Abdelkader, Mohamed

    2014-05-01

    Floods are the most common natural disasters, causing thousands of casualties every year in the world. In particular, flash flood events are particularly deadly because of the short timescales on which they occur. Unmanned air vehicles equipped with mobile microsensors could be capable of sensing flash floods in real time, saving lives and greatly improving the efficiency of the emergency response. However, of the main issues arising with sensing floods is the difficulty of planning the path of the sensing agents in advance so as to obtain meaningful data as fast as possible. In this particle, we present a fast numerical scheme to quickly compute the trajectories of a set of UAVs in order to maximize the accuracy of model parameter estimation over a time horizon. Simulation results are presented, a preliminary testbed is briefly described, and future research directions and problems are discussed. © 2014 IEEE.

  13. Towards Real-Time Distributed Planning in Multi-Robot Systems

    KAUST Repository

    Abdelkader, Mohamed

    2018-01-01

    of extensive information exchange (communication). The extensive communication between robots can result in decision delays because of which distributed architecture is often impractical for systems with strict real-time constraints, e.g. when decisions have

  14. LEGO robot vehicle lesson plans for secondary education : a recruitment tool.

    Science.gov (United States)

    2012-08-01

    Robotics is a great way to get kids excited about science, technology, engineering, and math (STEM) topics. It is also highly effective in stimulation development of teamwork and self-confidence. This project provides transportation-related lesson pl...

  15. Multi-optimization Criteria-based Robot Behavioral Adaptability and Motion Planning

    International Nuclear Information System (INIS)

    Pin, Francois G.

    2002-01-01

    Robotic tasks are typically defined in Task Space (e.g., the 3-D World), whereas robots are controlled in Joint Space (motors). The transformation from Task Space to Joint Space must consider the task objectives (e.g., high precision, strength optimization, torque optimization), the task constraints (e.g., obstacles, joint limits, non-holonomic constraints, contact or tool task constraints), and the robot kinematics configuration (e.g., tools, type of joints, mobile platform, manipulator, modular additions, locked joints). Commercially available robots are optimized for a specific set of tasks, objectives and constraints and, therefore, their control codes are extremely specific to a particular set of conditions. Thus, there exist a multiplicity of codes, each handling a particular set of conditions, but none suitable for use on robots with widely varying tasks, objectives, constraints, or environments. On the other hand, most DOE missions and tasks are typically ''batches of one''. Attempting to use commercial codes for such work requires significant personnel and schedule costs for re-programming or adding code to the robots whenever a change in task objective, robot configuration, number and type of constraint, etc. occurs. The objective of our project is to develop a ''generic code'' to implement this Task-space to Joint-Space transformation that would allow robot behavior adaptation, in real time (at loop rate), to changes in task objectives, number and type of constraints, modes of controls, kinematics configuration (e.g., new tools, added module). Our specific goal is to develop a single code for the general solution of under-specified systems of algebraic equations that is suitable for solving the inverse kinematics of robots, is useable for all types of robots (mobile robots, manipulators, mobile manipulators, etc.) with no limitation on the number of joints and the number of controlled Task-Space variables, can adapt to real time changes in number and

  16. Towards Real-Time Distributed Planning in Multi-Robot Systems

    KAUST Repository

    Abdelkader, Mohamed

    2018-04-01

    Recently, there has been an increasing interest in robotics related to multi-robot applications. Such systems can be involved in several tasks such as collaborative search and rescue, aerial transportation, surveillance, and monitoring, to name a few. There are two possible architectures for the autonomous control of multi-robot systems. In the centralized architecture, a master controller communicates with all the robots to collect information. It uses this information to make decisions for the entire system and then sends commands to each robot. In contrast, in the distributed architecture, each robot makes its own decision independent from a central authority. While distributed architecture is a more portable solution, it comes at the expense of extensive information exchange (communication). The extensive communication between robots can result in decision delays because of which distributed architecture is often impractical for systems with strict real-time constraints, e.g. when decisions have to be taken in the order of milliseconds. In this thesis, we propose a distributed framework that strikes a balance between limited communicated information and reasonable system-wide performance while running in real-time. We implement the proposed approach in a game setting of two competing teams of drones, defenders and attackers. Defending drones execute a proposed linear program algorithm (using only onboard computing modules) to obstruct attackers from infiltrating a defense zone while having minimal local message passing. Another main contribution is that we developed a realistic simulation environment as well as lab and outdoor hardware setups of customized drones for testing the system in realistic scenarios. Our software is completely open-source and fully integrated with the well-known Robot Operating System (ROS) in hopes to make our work easily reproducible and for rapid future improvements.

  17. Pedestrian flow-path modeling to support tsunami evacuation and disaster relief planning in the U.S. Pacific Northwest

    Science.gov (United States)

    Wood, Nathan J.; Jones, Jeanne M.; Schmidtlein, Mathew; Schelling, John; Frazier, T.

    2016-01-01

    Successful evacuations are critical to saving lives from future tsunamis. Pedestrian-evacuation modeling related to tsunami hazards primarily has focused on identifying areas and the number of people in these areas where successful evacuations are unlikely. Less attention has been paid to identifying evacuation pathways and population demand at assembly areas for at-risk individuals that may have sufficient time to evacuate. We use the neighboring coastal communities of Hoquiam, Aberdeen, and Cosmopolis (Washington, USA) and the local tsunami threat posed by Cascadia subduction zone earthquakes as a case study to explore the use of geospatial, least-cost-distance evacuation modeling for supporting evacuation outreach, response, and relief planning. We demonstrate an approach that uses geospatial evacuation modeling to (a) map the minimum pedestrian travel speeds to safety, the most efficient paths, and collective evacuation basins, (b) estimate the total number and demographic description of evacuees at predetermined assembly areas, and (c) determine which paths may be compromised due to earthquake-induced ground failure. Results suggest a wide range in the magnitude and type of evacuees at predetermined assembly areas and highlight parts of the communities with no readily accessible assembly area. Earthquake-induced ground failures could obstruct access to some assembly areas, cause evacuees to reroute to get to other assembly areas, and isolate some evacuees from relief personnel. Evacuation-modeling methods and results discussed here have implications and application to tsunami-evacuation outreach, training, response procedures, mitigation, and long-term land use planning to increase community resilience.

  18. Automatic control of a robotic vehicle

    Science.gov (United States)

    Mcreynolds, S. R.

    1976-01-01

    Over the last several years Jet Propulsion Laboratory has been engaged in a project to develop some of the technology required to build a robotic vehicle for exploring planetary surfaces. An overview of hardware and software being developed for this project is given. Particular emphasis is placed on the description of the current design for the Vehicle System required for locomotion and the path planning algorithm.

  19. Research on Semi-automatic Bomb Fetching for an EOD Robot

    Directory of Open Access Journals (Sweden)

    Qian Jun

    2008-11-01

    Full Text Available An EOD robot system, SUPER-PLUS, which has a novel semi-automatic bomb fetching function is presented in this paper. With limited support of human, SUPER-PLUS scans the cluttered environment with a wrist-mounted laser distance sensor and plans the manipulator a collision free path to fetch the bomb. The model construction of manipulator, bomb and environment, C-space map, path planning and the operation procedure are introduced in detail. The semi-automatic bomb fetching function has greatly improved the operation performance of EOD robot.

  20. Research on Semi-Automatic Bomb Fetching for an EOD Robot

    Directory of Open Access Journals (Sweden)

    Zeng Jian-Jun

    2007-06-01

    Full Text Available An EOD robot system, SUPER-PLUS, which has a novel semi-automatic bomb fetching function is presented in this paper. With limited support of human, SUPER-PLUS scans the cluttered environment with a wrist-mounted laser distance sensor and plans the manipulator a collision free path to fetch the bomb. The model construction of manipulator, bomb and environment, C-space map, path planning and the operation procedure are introduced in detail. The semi-automatic bomb fetching function has greatly improved the operation performance of EOD robot.

  1. Predicting Climate-sensitive Infectious Diseases: Development of a Federal Science Plan and the Path Forward

    Science.gov (United States)

    Trtanj, J.; Balbus, J. M.; Brown, C.; Shimamoto, M. M.

    2017-12-01

    The transmission and spread of infectious diseases, especially vector-borne diseases, water-borne diseases and zoonosis, are influenced by short and long-term climate factors, in conjunction with numerous other drivers. Public health interventions, including vaccination, vector control programs, and outreach campaigns could be made more effective if the geographic range and timing of increased disease risk could be more accurately targeted, and high risk areas and populations identified. While some progress has been made in predictive modeling for transmission of these diseases using climate and weather data as inputs, they often still start after the first case appears, the skill of those models remains limited, and their use by public health officials infrequent. And further, predictions with lead times of weeks, months or seasons are even rarer, yet the value of acting early holds the potential to save more lives, reduce cost and enhance both economic and national security. Information on high-risk populations and areas for infectious diseases is also potentially useful for the federal defense and intelligence communities as well. The US Global Change Research Program, through its Interagency Group on Climate Change and Human Health (CCHHG), has put together a science plan that pulls together federal scientists and programs working on predictive modeling of climate-sensitive diseases, and draws on academic and other partners. Through a series of webinars and an in-person workshop, the CCHHG has convened key federal and academic stakeholders to assess the current state of science and develop an integrated science plan to identify data and observation systems needs as well as a targeted research agenda for enhancing predictive modeling. This presentation will summarize the findings from this effort and engage AGU members on plans and next steps to improve predictive modeling for infectious diseases.

  2. SSTAC/ARTS review of the draft Integrated Technology Plan (ITP). Volume 8: Aerothermodynamics Automation and Robotics (A/R) systems sensors, high-temperature superconductivity

    Science.gov (United States)

    1991-01-01

    Viewgraphs of briefings presented at the SSTAC/ARTS review of the draft Integrated Technology Plan (ITP) on aerothermodynamics, automation and robotics systems, sensors, and high-temperature superconductivity are included. Topics covered include: aerothermodynamics; aerobraking; aeroassist flight experiment; entry technology for probes and penetrators; automation and robotics; artificial intelligence; NASA telerobotics program; planetary rover program; science sensor technology; direct detector; submillimeter sensors; laser sensors; passive microwave sensing; active microwave sensing; sensor electronics; sensor optics; coolers and cryogenics; and high temperature superconductivity.

  3. SSTAC/ARTS review of the draft Integrated Technology Plan (ITP). Volume 8: Aerothermodynamics Automation and Robotics (A/R) systems sensors, high-temperature superconductivity

    International Nuclear Information System (INIS)

    1991-06-01

    Viewgraphs of briefings presented at the SSTAC/ARTS review of the draft Integrated Technology Plan (ITP) on aerothermodynamics, automation and robotics systems, sensors, and high-temperature superconductivity are included. Topics covered include: aerothermodynamics; aerobraking; aeroassist flight experiment; entry technology for probes and penetrators; automation and robotics; artificial intelligence; NASA telerobotics program; planetary rover program; science sensor technology; direct detector; submillimeter sensors; laser sensors; passive microwave sensing; active microwave sensing; sensor electronics; sensor optics; coolers and cryogenics; and high temperature superconductivity

  4. Optimal grasp planning for a dexterous robotic hand using the volume of a generalized force ellipsoid during accepted flattening

    Directory of Open Access Journals (Sweden)

    Peng Jia

    2017-01-01

    Full Text Available A grasp planning method based on the volume and flattening of a generalized force ellipsoid is proposed to improve the grasping ability of a dexterous robotic hand. First, according to the general solution of joint torques for a dexterous robotic hand, a grasping indicator for the dexterous hand—the maximum volume of a generalized external force ellipsoid and the minimum volume of a generalized contact internal force ellipsoid during accepted flattening—is proposed. Second, an optimal grasp planning method based on a task is established using the grasping indicator as an objective function. Finally, a simulation analysis and grasping experiment are performed. Results show that when the grasping experiment is conducted with the grasping configuration and positions of contact points optimized using the proposed grasping indicator, the root-mean-square values of the joint torques and contact internal forces of the dexterous hand are at a minimum. The effectiveness of the proposed grasping planning method is thus demonstrated.

  5. Planning of motion strategy for hexapod robot using biogeography based optimization

    Directory of Open Access Journals (Sweden)

    Hayder Mahdi Abdulridha

    2017-08-01

    Full Text Available The necessity to utilize the usage of the robot cannot be denied since there are a lot of natural disasters occur around the world, the robot can reach places where humans cannot reach. Hexapod robotic is one of the robots utilized in this case due to its balance and versatility at some stage in the movement on any kind of floor. In this project the explanation of using software and hardware Arduino microcontroller is used to control of such a hexapod. The output signal from Arduino for controlling leg's joint angular position such as a pulse called Pulse Width Modulation (PWM. Also Arduino programmed to create the sequence of motion for six legs. The second part of project is about controlling hexapod to avoid hitches and tracking the wall by using PID controller. Tuning of the PID processes based on Biogeography Based Optimization(BBO need to keep the connection between PC and hexapod, because the BBO was written by Matlab. The experimental results using BBO to optimize the PID controller parameters of hexapod robot show the efficiency of this technique in the adaptation of controller.

  6. Experimental evaluations of the accuracy of 3D and 4D planning in robotic tracking stereotactic body radiotherapy for lung cancers

    International Nuclear Information System (INIS)

    Chan, Mark K. H.; Kwong, Dora L. W.; Ng, Sherry C. Y.; Tong, Anthony S. M.; Tam, Eric K. W.

    2013-01-01

    Purpose: Due to the complexity of 4D target tracking radiotherapy, the accuracy of this treatment strategy should be experimentally validated against established standard 3D technique. This work compared the accuracy of 3D and 4D dose calculations in respiration tracking stereotactic body radiotherapy (SBRT). Methods: Using the 4D planning module of the CyberKnife treatment planning system, treatment plans for a moving target and a static off-target cord structure were created on different four-dimensional computed tomography (4D-CT) datasets of a thorax phantom moving in different ranges. The 4D planning system used B-splines deformable image registrations (DIR) to accumulate dose distributions calculated on different breathing geometries, each corresponding to a static 3D-CT image of the 4D-CT dataset, onto a reference image to compose a 4D dose distribution. For each motion, 4D optimization was performed to generate a 4D treatment plan of the moving target. For comparison with standard 3D planning, each 4D plan was copied to the reference end-exhale images and a standard 3D dose calculation was followed. Treatment plans of the off-target structure were first obtained by standard 3D optimization on the end-exhale images. Subsequently, they were applied to recalculate the 4D dose distributions using DIRs. All dose distributions that were initially obtained using the ray-tracing algorithm with equivalent path-length heterogeneity correction (3D EPL and 4D EPL ) were recalculated by a Monte Carlo algorithm (3D MC and 4D MC ) to further investigate the effects of dose calculation algorithms. The calculated 3D EPL , 3D MC , 4D EPL , and 4D MC dose distributions were compared to measurements by Gafchromic EBT2 films in the axial and coronal planes of the moving target object, and the coronal plane for the static off-target object based on the γ metric at 5%/3mm criteria (γ 5%/3mm ). Treatment plans were considered acceptable if the percentage of pixels passing γ 5

  7. RISK ASSESSMENT IN PROJECT PLANNING USING FMEA AND CRITICAL PATH METHOD

    Directory of Open Access Journals (Sweden)

    Sandra Milena CHOLES ARVILLA

    2014-10-01

    Full Text Available This paper is based upon the research undertaken for the development of the doctoral thesis “Management of software projects based on object-oriented technology”. The study examines the existing risk management practices commonly used for classic software development. The goal is to integrate the elements of the traditional risk management methodologies to create a new agile risk management methodology. The thesis focuses on techniques that can be easily implemented in extreme programming (XP and SCRUM. This study is motivated by the following research questions: What are the elements of existing quality assurance tools that could meet the principles of agile development? And is it possible to use risk estimation for improving quality in agile projects? The thesis presents a synthesis of the most common risk management techniques, as well as an introduction to agile methods XP and SCRUM. The proposal integrates the concepts of Failure Mode and Effect Analysis into the iterative life cycle of an agile software project. The thesis presents a metamodel which integrates the concepts of agile development methodologies: SCRUM and XP with the FMEA concepts for risk quantification. The model was partly implemented into a real development project. Partial results show the improvement in early identification of failures and allowed to reconsider the Sprint plan.

  8. Characterization Of Robot Work Cell

    Science.gov (United States)

    Anderson, Ronald R.; Paternoster, Vincent Y.; Guthmiller, Wayne A.

    1990-01-01

    Iterative process of measurement and computation used to characterize work cell of robot, increasing accuracy of mathematical model of work cell. Characterization needed because model used in off-line programming (OLP) to compute paths to control motion of robot. Increases accuracies of model and paths.

  9. Model-based acquisition and analysis of multimodal interactions for improving human-robot interaction

    OpenAIRE

    Renner, Patrick; Pfeiffer, Thies

    2014-01-01

    For solving complex tasks cooperatively in close interaction with robots, they need to understand natural human communication. To achieve this, robots could benefit from a deeper understanding of the processes that humans use for successful communication. Such skills can be studied by investigating human face-to-face interactions in complex tasks. In our work the focus lies on shared-space interactions in a path planning task and thus 3D gaze directions and hand movements are of particular in...

  10. Sensor-guided parking system for a carlike robot

    Science.gov (United States)

    Jiang, Kaichum; Seneviratne, L. D.

    1998-07-01

    This paper presents an automated parking strategy for a car- like mobile robot. The study considers general parking manoeuvre cases for a rectangular robot, including parallel parking. The robot is constructed simulating a conventional car, which is subject to non-holonomic constraints and thus only has two degrees of freedom. The parking space is considered as rectangular, and detected by ultrasonic sensors mounted on the robot. A motion planning algorithm develops a collision-free path for parking, taking into account the non- holonomic constraints acting on the car-like robot. A research into general car maneuvers has been conducted and useful results have been achieved. The motion planning algorithm uses these results, combined with configuration space method, to produce a collision-free path for parallel parking, depending on the parking space detected. A control program in the form of a graphical user interface has been developed for users to operate the system with ease. The strategy is implemented on a modified B12 mobile robot. The strategy presented has the potential for application in automobiles.

  11. Robotic-Arm Assisted Total Knee Arthroplasty Demonstrated Greater Accuracy and Precision to Plan Compared with Manual Techniques.

    Science.gov (United States)

    Hampp, Emily L; Chughtai, Morad; Scholl, Laura Y; Sodhi, Nipun; Bhowmik-Stoker, Manoshi; Jacofsky, David J; Mont, Michael A

    2018-05-01

    This study determined if robotic-arm assisted total knee arthroplasty (RATKA) allows for more accurate and precise bone cuts and component position to plan compared with manual total knee arthroplasty (MTKA). Specifically, we assessed the following: (1) final bone cuts, (2) final component position, and (3) a potential learning curve for RATKA. On six cadaver specimens (12 knees), a MTKA and RATKA were performed on the left and right knees, respectively. Bone-cut and final-component positioning errors relative to preoperative plans were compared. Median errors and standard deviations (SDs) in the sagittal, coronal, and axial planes were compared. Median values of the absolute deviation from plan defined the accuracy to plan. SDs described the precision to plan. RATKA bone cuts were as or more accurate to plan based on nominal median values in 11 out of 12 measurements. RATKA bone cuts were more precise to plan in 8 out of 12 measurements ( p  ≤ 0.05). RATKA final component positions were as or more accurate to plan based on median values in five out of five measurements. RATKA final component positions were more precise to plan in four out of five measurements ( p  ≤ 0.05). Stacked error results from all cuts and implant positions for each specimen in procedural order showed that RATKA error was less than MTKA error. Although this study analyzed a small number of cadaver specimens, there were clear differences that separated these two groups. When compared with MTKA, RATKA demonstrated more accurate and precise bone cuts and implant positioning to plan. Thieme Medical Publishers 333 Seventh Avenue, New York, NY 10001, USA.

  12. Friendly network robotics; Friendly network robotics

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1997-03-01

    This paper summarizes the research results on the friendly network robotics in fiscal 1996. This research assumes an android robot as an ultimate robot and the future robot system utilizing computer network technology. The robot aiming at human daily work activities in factories or under extreme environments is required to work under usual human work environments. The human robot with similar size, shape and functions to human being is desirable. Such robot having a head with two eyes, two ears and mouth can hold a conversation with human being, can walk with two legs by autonomous adaptive control, and has a behavior intelligence. Remote operation of such robot is also possible through high-speed computer network. As a key technology to use this robot under coexistence with human being, establishment of human coexistent robotics was studied. As network based robotics, use of robots connected with computer networks was also studied. In addition, the R-cube (R{sup 3}) plan (realtime remote control robot technology) was proposed. 82 refs., 86 figs., 12 tabs.

  13. So Long, Robot Reader! A Superhero Intervention Plan for Improving Fluency

    Science.gov (United States)

    Marcell, Barclay; Ferraro, Christine

    2013-01-01

    This article presents an engaging means for turning disfluent readers into prosody superstars. Each week students align with Poetry Power Man and his superhero friends to battle the evil Robot Reader and his sidekicks. The Fluency Foursome helps students adhere to the multidimensional aspects of fluency where expression and comprehension are…

  14. Space station automation and robotics study. Operator-systems interface

    Science.gov (United States)

    1984-01-01

    This is the final report of a Space Station Automation and Robotics Planning Study, which was a joint project of the Boeing Aerospace Company, Boeing Commercial Airplane Company, and Boeing Computer Services Company. The study is in support of the Advanced Technology Advisory Committee established by NASA in accordance with a mandate by the U.S. Congress. Boeing support complements that provided to the NASA Contractor study team by four aerospace contractors, the Stanford Research Institute (SRI), and the California Space Institute. This study identifies automation and robotics (A&R) technologies that can be advanced by requirements levied by the Space Station Program. The methodology used in the study is to establish functional requirements for the operator system interface (OSI), establish the technologies needed to meet these requirements, and to forecast the availability of these technologies. The OSI would perform path planning, tracking and control, object recognition, fault detection and correction, and plan modifications in connection with extravehicular (EV) robot operations.

  15. Robot Tracer with Visual Camera

    Science.gov (United States)

    Jabbar Lubis, Abdul; Dwi Lestari, Yuyun; Dafitri, Haida; Azanuddin

    2017-12-01

    Robot is a versatile tool that can function replace human work function. The robot is a device that can be reprogrammed according to user needs. The use of wireless networks for remote monitoring needs can be utilized to build a robot that can be monitored movement and can be monitored using blueprints and he can track the path chosen robot. This process is sent using a wireless network. For visual robot using high resolution cameras to facilitate the operator to control the robot and see the surrounding circumstances.

  16. Automatic planning for robots: review of methods and some ideas about structure and learning

    Energy Technology Data Exchange (ETDEWEB)

    Cuena, J.; Salmeron, C.

    1983-01-01

    After a brief review of the problems involved in the design of an automatic planner system, the attention is focused in the particular problems that appear when the planner is used to control the actions of a robot. As conclusion, the introduction of techniques for learning in order to improve the efficiency of a planner are suggested, and a method for it, at present in development, is presented. 14 references.

  17. A survey on inspecting structures using robotic systems

    Directory of Open Access Journals (Sweden)

    Randa Almadhoun

    2016-11-01

    Full Text Available Advancements in robotics and autonomous systems are being deployed nowadays in many application domains such as search and rescue, industrial automation, domestic services and healthcare. These systems are developed to tackle tasks in some of the most challenging, labour intensive and dangerous environments. Inspecting structures (e.g. bridges, buildings, ships, wind turbines and aircrafts is considered a hard task for humans to perform and of critical importance since missing any details could affect the structure’s performance and integrity. Additionally, structure inspection is time and resource intensive and should be performed as efficiently and accurately as possible. Inspecting various structures has been reported in the literature using different robotic platforms to: inspect difficult to reach areas and detect various types of faults and anomalies. Typically, inspection missions involve performing three main tasks: coverage path planning, shape, model or surface reconstruction and the actual inspection of the structure. Coverage path planning ensures the generation of an optimized path that guarantees the complete coverage of the structure of interest in order to gather highly accurate information to be used for shape/model reconstruction. This article aims to provide an overview of the recent work and breakthroughs in the field of coverage path planning and model reconstruction, with focus on 3D reconstruction, for the purpose of robotic inspection.

  18. Robot modelling; Control and applications with software

    Energy Technology Data Exchange (ETDEWEB)

    Ranky, P G; Ho, C Y

    1985-01-01

    This book provides a ''picture'' of robotics covering both the theoretical aspect of modeling as well as the practical and design aspects of: robot programming; robot tooling and automated hand changing; implementation planning; testing; and software design for robot systems. The authors present an introduction to robotics with a systems approach. They describe not only the tasks relating to a single robot (or arm) but also systems of robots working together on a product or several products.

  19. A Sensor Based Navigation Algorithm for a Mobile Robot using the DVFF Approach

    Directory of Open Access Journals (Sweden)

    A. OUALID DJEKOUNE

    2009-06-01

    Full Text Available Often autonomous mobile robots operate in environment for which prior maps are incomplete or inaccurate. They require the safe execution for a collision free motion to a goal position. This paper addresses a complete navigation method for a mobile robot that moves in unknown environment. Thus, a novel method called DVFF combining the Virtual Force Field (VFF obstacle avoidance approach and global path planning based on D* algorithm is proposed. While D* generates global path information towards a goal position, the VFF local controller generates the admissible trajectories that ensure safe robot motion. Results and analysis from a battery of experiments with this new method implemented on a ATRV2 mobile robot are shown.

  20. Applications of artificial intelligence to space station and automated software techniques: High level robot command language

    Science.gov (United States)

    Mckee, James W.

    1989-01-01

    The objective is to develop a system that will allow a person not necessarily skilled in the art of programming robots to quickly and naturally create the necessary data and commands to enable a robot to perform a desired task. The system will use a menu driven graphical user interface. This interface will allow the user to input data to select objects to be moved. There will be an imbedded expert system to process the knowledge about objects and the robot to determine how they are to be moved. There will be automatic path planning to avoid obstacles in the work space and to create a near optimum path. The system will contain the software to generate the required robot instructions.

  1. Fuzzy Logic Based Behavior Fusion for Navigation of an Intelligent Mobile Robot

    Institute of Scientific and Technical Information of China (English)

    李伟; 陈祖舜; 等

    1996-01-01

    This paper presents a new method for behavior fusion control of a mobile robot in uncertain environments.Using behavior fusion by fuzzy logic,a mobile robot is able to directly execute its motion according to range information about environments,acquired by ultrasonic sensors,without the need for trajectory planning.Based on low-level behavior control,an efficient strategy for integrating high-level global planning for robot motion can be formulated,since,in most applications,some information on environments is prior knowledge.A global planner,therefore,only to generate some subgoal positions rather than exact geometric paths.Because such subgoals can be easily removed from or added into the plannes,this strategy reduces computational time for global planning and is flexible for replanning in dynamic environments.Simulation results demonstrate that the proposed strategy can be applied to robot motion in complex and dynamic environments.

  2. Task Analysis and Descriptions of Required Job Competencies for Robotics/Automated Systems Technicians. Final Report. Volume 2. Curriculum Planning Guide.

    Science.gov (United States)

    Hull, Daniel M.; Lovett, James E.

    This volume of the final report for the Robotics/Automated Systems Technician (RAST) curriculum project is a curriculum planning guide intended for school administrators, faculty, and student counselors/advisors. It includes step-by-step procedures to help institutions evaluate their community's needs and their capabilities to meet these needs in…

  3. Cloud-Enhanced Robotic System for Smart City Crowd Control

    Directory of Open Access Journals (Sweden)

    Akhlaqur Rahman

    2016-12-01

    Full Text Available Cloud robotics in smart cities is an emerging paradigm that enables autonomous robotic agents to communicate and collaborate with a cloud computing infrastructure. It complements the Internet of Things (IoT by creating an expanded network where robots offload data-intensive computation to the ubiquitous cloud to ensure quality of service (QoS. However, offloading for robots is significantly complex due to their unique characteristics of mobility, skill-learning, data collection, and decision-making capabilities. In this paper, a generic cloud robotics framework is proposed to realize smart city vision while taking into consideration its various complexities. Specifically, we present an integrated framework for a crowd control system where cloud-enhanced robots are deployed to perform necessary tasks. The task offloading is formulated as a constrained optimization problem capable of handling any task flow that can be characterized by a Direct Acyclic Graph (DAG. We consider two scenarios of minimizing energy and time, respectively, and develop a genetic algorithm (GA-based approach to identify the optimal task offloading decisions. The performance comparison with two benchmarks shows that our GA scheme achieves desired energy and time performance. We also show the adaptability of our algorithm by varying the values for bandwidth and movement. The results suggest their impact on offloading. Finally, we present a multi-task flow optimal path sequence problem that highlights how the robot can plan its task completion via movements that expend the minimum energy. This integrates path planning with offloading for robotics. To the best of our knowledge, this is the first attempt to evaluate cloud-based task offloading for a smart city crowd control system.

  4. Calibration and control for range imaging in mobile robot navigation

    Energy Technology Data Exchange (ETDEWEB)

    Dorum, O.H. [Norges Tekniske Hoegskole, Trondheim (Norway). Div. of Computer Systems and Telematics; Hoover, A. [University of South Florida, Tampa, FL (United States). Dept. of Computer Science and Engineering; Jones, J.P. [Oak Ridge National Lab., TN (United States)

    1994-06-01

    This paper addresses some issues in the development of sensor-based systems for mobile robot navigation which use range imaging sensors as the primary source for geometric information about the environment. In particular, we describe a model of scanning laser range cameras which takes into account the properties of the mechanical system responsible for image formation and a calibration procedure which yields improved accuracy over previous models. In addition, we describe an algorithm which takes the limitations of these sensors into account in path planning and path execution. In particular, range imaging sensors are characterized by a limited field of view and a standoff distance -- a minimum distance nearer than which surfaces cannot be sensed. These limitations can be addressed by enriching the concept of configuration space to include information about what can be sensed from a given configuration, and using this information to guide path planning and path following.

  5. Exploratorium: Robots.

    Science.gov (United States)

    Brand, Judith, Ed.

    2002-01-01

    This issue of Exploratorium Magazine focuses on the topic robotics. It explains how to make a vibrating robotic bug and features articles on robots. Contents include: (1) "Where Robot Mice and Robot Men Run Round in Robot Towns" (Ray Bradbury); (2) "Robots at Work" (Jake Widman); (3) "Make a Vibrating Robotic Bug" (Modesto Tamez); (4) "The Robot…

  6. On the reproducibility of expert-operated and robotic ultrasound acquisitions.

    Science.gov (United States)

    Kojcev, Risto; Khakzar, Ashkan; Fuerst, Bernhard; Zettinig, Oliver; Fahkry, Carole; DeJong, Robert; Richmon, Jeremy; Taylor, Russell; Sinibaldi, Edoardo; Navab, Nassir

    2017-06-01

    We present the evaluation of the reproducibility of measurements performed using robotic ultrasound imaging in comparison with expert-operated sonography. Robotic imaging for interventional procedures may be a valuable contribution, but requires reproducibility for its acceptance in clinical routine. We study this by comparing repeated measurements based on robotic and expert-operated ultrasound imaging. Robotic ultrasound acquisition is performed in three steps under user guidance: First, the patient is observed using a 3D camera on the robot end effector, and the user selects the region of interest. This allows for automatic planning of the robot trajectory. Next, the robot executes a sweeping motion following the planned trajectory, during which the ultrasound images and tracking data are recorded. As the robot is compliant, deviations from the path are possible, for instance due to patient motion. Finally, the ultrasound slices are compounded to create a volume. Repeated acquisitions can be performed automatically by comparing the previous and current patient surface. After repeated image acquisitions, the measurements based on acquisitions performed by the robotic system and expert are compared. Within our case series, the expert measured the anterior-posterior, longitudinal, transversal lengths of both of the left and right thyroid lobes on each of the 4 healthy volunteers 3 times, providing 72 measurements. Subsequently, the same procedure was performed using the robotic system resulting in a cumulative total of 144 clinically relevant measurements. Our results clearly indicated that robotic ultrasound enables more repeatable measurements. A robotic ultrasound platform leads to more reproducible data, which is of crucial importance for planning and executing interventions.

  7. Robotics in nuclear engineering. Computer-assisted teleoperation in hazardous environments with particular reference to radiation fields

    Energy Technology Data Exchange (ETDEWEB)

    Larcombe, M H.E.; Halsall, J R

    1984-01-01

    The subject is covered in chapters, entitled: foreword and definitions; introduction; robotics state of the art 1984; potential applications; advanced remote control; robot system design principles; robot system skills; planning of remote control robotics R and D; example systems; REMCON (advanced remote control robotic systems) guidelines; robot activation; robot instrumentation; robot guidance; design of equipment for robotic maintenance; ergonomics of control.

  8. Kinematic simulation and analysis of robot based on MATLAB

    Science.gov (United States)

    Liao, Shuhua; Li, Jiong

    2018-03-01

    The history of industrial automation is characterized by quick update technology, however, without a doubt, the industrial robot is a kind of special equipment. With the help of MATLAB matrix and drawing capacity in the MATLAB environment each link coordinate system set up by using the d-h parameters method and equation of motion of the structure. Robotics, Toolbox programming Toolbox and GUIDE to the joint application is the analysis of inverse kinematics and path planning and simulation, preliminary solve the problem of college students the car mechanical arm positioning theory, so as to achieve the aim of reservation.

  9. Robotic tape library system level testing at NSA: Present and planned

    Science.gov (United States)

    Shields, Michael F.

    1994-01-01

    In the present of declining Defense budgets, increased pressure has been placed on the DOD to utilize Commercial Off the Shelf (COTS) solutions to incrementally solve a wide variety of our computer processing requirements. With the rapid growth in processing power, significant expansion of high performance networking, and the increased complexity of applications data sets, the requirement for high performance, large capacity, reliable and secure, and most of all affordable robotic tape storage libraries has greatly increased. Additionally, the migration to a heterogeneous, distributed computing environment has further complicated the problem. With today's open system compute servers approaching yesterday's supercomputer capabilities, the need for affordable, reliable secure Mass Storage Systems (MSS) has taken on an ever increasing importance to our processing center's ability to satisfy operational mission requirements. To that end, NSA has established an in-house capability to acquire, test, and evaluate COTS products. Its goal is to qualify a set of COTS MSS libraries, thereby achieving a modicum of standardization for robotic tape libraries which can satisfy our low, medium, and high performance file and volume serving requirements. In addition, NSA has established relations with other Government Agencies to complete this in-house effort and to maximize our research, testing, and evaluation work. While the preponderance of the effort is focused at the high end of the storage ladder, considerable effort will be extended this year and next at the server class or mid range storage systems.

  10. Study of Robust Position Recognition System of a Mobile Robot Using Multiple Cameras and Absolute Space Coordinates

    International Nuclear Information System (INIS)

    Mo, Se Hyun; Jeon, Young Pil; Park, Jong Ho; Chong, Kil To

    2017-01-01

    With the development of ICT technology, the indoor utilization of robots is increasing. Research on transportation, cleaning, guidance robots, etc., that can be used now or increase the scope of future use will be advanced. To facilitate the use of mobile robots in indoor spaces, the problem of self-location recognition is an important research area to be addressed. If an unexpected collision occurs during the motion of a mobile robot, the position of the mobile robot deviates from the initially planned navigation path. In this case, the mobile robot needs a robust controller that enables the mobile robot to accurately navigate toward the goal. This research tries to address the issues related to self-location of the mobile robot. A robust position recognition system was implemented; the system estimates the position of the mobile robot using a combination of encoder information of the mobile robot and the absolute space coordinate transformation information obtained from external video sources such as a large number of CCTVs installed in the room. Furthermore, vector field histogram method of the pass traveling algorithm of the mobile robot system was applied, and the results of the research were confirmed after conducting experiments.

  11. Study of Robust Position Recognition System of a Mobile Robot Using Multiple Cameras and Absolute Space Coordinates

    Energy Technology Data Exchange (ETDEWEB)

    Mo, Se Hyun [Amotech, Seoul (Korea, Republic of); Jeon, Young Pil [Samsung Electronics Co., Ltd. Suwon (Korea, Republic of); Park, Jong Ho [Seonam Univ., Namwon (Korea, Republic of); Chong, Kil To [Chon-buk Nat' 1 Univ., Junju (Korea, Republic of)

    2017-07-15

    With the development of ICT technology, the indoor utilization of robots is increasing. Research on transportation, cleaning, guidance robots, etc., that can be used now or increase the scope of future use will be advanced. To facilitate the use of mobile robots in indoor spaces, the problem of self-location recognition is an important research area to be addressed. If an unexpected collision occurs during the motion of a mobile robot, the position of the mobile robot deviates from the initially planned navigation path. In this case, the mobile robot needs a robust controller that enables the mobile robot to accurately navigate toward the goal. This research tries to address the issues related to self-location of the mobile robot. A robust position recognition system was implemented; the system estimates the position of the mobile robot using a combination of encoder information of the mobile robot and the absolute space coordinate transformation information obtained from external video sources such as a large number of CCTVs installed in the room. Furthermore, vector field histogram method of the pass traveling algorithm of the mobile robot system was applied, and the results of the research were confirmed after conducting experiments.

  12. On the Construction of a Micro-World and the Design of a Path Finding Intelligent Agent with Applications in Robotics and Game Design

    Directory of Open Access Journals (Sweden)

    Cristian Moldovan

    2017-12-01

    Full Text Available This paper presents research regarding the behavior of an IA (Intelligent Agent in a MW (Micro-World, a maze-like environment, when it has to find a path from Start to Target position. The IA’s behavior is controlled via an Informed Search Algorithm. Its perception is limited only to one tile in the N, V, S and E direction, it has no prior knowledge of the search space, it has memory on the co-ordinates of already visited path and we implement a heuristic function to direct the IA to the Target.

  13. COMPARISON OF CLASSICAL AND INTERACTIVE MULTI-ROBOT EXPLORATION STRATEGIES IN POPULATED ENVIRONMENTS

    Directory of Open Access Journals (Sweden)

    Nassim Kalde

    2015-06-01

    Full Text Available Multi-robot exploration consists in coordinating robots for mapping an unknown environment. It raises several issues concerning task allocation, robot control, path planning and communication. We study exploration in populated environments, in which pedestrian flows can severely impact performances. However, humans have adaptive skills for taking advantage of these flows while moving. Therefore, in order to exploit these human abilities, we propose a novel exploration strategy that explicitly allows for human-robot interactions. Our model for exploration in populated environments combines the classical frontier-based strategy with our interactive approach. We implement interactions where robots can locally choose a human guide to follow and define a parametric heuristic to balance interaction and frontier assignments. Finally, we evaluate to which extent human presence impacts our exploration model in terms of coverage ratio, travelled distance and elapsed time to completion.

  14. Research and development at ORNL/CESAR towards cooperating robotic systems for hazardous environments

    International Nuclear Information System (INIS)

    Mann, R.C.; Fujimura, K.; Unseren, M.A.

    1991-01-01

    One of the frontiers in intelligent machine research is the understanding of how constructive cooperation among multiple autonomous agents can be effected. The effort at the Center for Engineering Systems Advanced Research (CESAR)at the Oak Ridge National Laboratory (ORNL) focuses on two problem areas: (1) cooperation by multiple mobile robots in dynamic, incompletely known environments; and (2) cooperating robotic manipulators. Particular emphasis is placed on experimental evaluation of research and developments using the CESAR robot system testbeds, including three mobile robots, and a seven-axis, kinematically redundant mobile manipulator. This paper summarizes initial results of research addressing the decoupling of position and force control for two manipulators holding a common object, and the path planning for multiple robots in a common workspace. 15 refs., 3 figs

  15. Robot-assisted radiofrequency ablation of primary and secondary liver tumours: early experience

    International Nuclear Information System (INIS)

    Abdullah, Basri Johan Jeet; Yeong, Chai Hong; Goh, Khean Lee; Yoong, Boon Koon; Ho, Gwo Fuang; Yim, Carolyn Chue Wai; Kulkarni, Anjali

    2014-01-01

    Computed tomography (CT)-compatible robots, both commercial and research-based, have been developed with the intention of increasing the accuracy of needle placement and potentially improving the outcomes of therapies in addition to reducing clinical staff and patient exposure to radiation during CT fluoroscopy. In the case of highly inaccessible lesions that require multiple plane angulations, robotically assisted needles may improve biopsy access and targeted drug delivery therapy by avoidance of the straight line path of normal linear needles. We report our preliminary experience of performing radiofrequency ablation of the liver using a robotic-assisted CT guidance system on 11 patients (17 lesions). Robotic-assisted planning and needle placement appears to have high accuracy, is technically easier than the non-robotic-assisted procedure, and involves a significantly lower radiation dose to both patient and support staff. (orig.)

  16. Robot-assisted radiofrequency ablation of primary and secondary liver tumours: early experience

    Energy Technology Data Exchange (ETDEWEB)

    Abdullah, Basri Johan Jeet [University of Malaya, Department of Biomedical Imaging, Faculty of Medicine, Kuala Lumpur (Malaysia); Yeong, Chai Hong [University of Malaya, University of Malaya Research Imaging Centre, Faculty of Medicine, Kuala Lumpur (Malaysia); Goh, Khean Lee [University of Malaya, Department of Internal Medicine, Faculty of Medicine, Kuala Lumpur (Malaysia); Yoong, Boon Koon [University of Malaya, Department of Surgery, Faculty of Medicine, Kuala Lumpur (Malaysia); Ho, Gwo Fuang [University of Malaya, Department of Oncology, Faculty of Medicine, Kuala Lumpur (Malaysia); Yim, Carolyn Chue Wai [University of Malaya, Department of Anesthesia, Faculty of Medicine, Kuala Lumpur (Malaysia); Kulkarni, Anjali [Perfint Healthcare Corporation, Florence, OR (United States)

    2014-01-15

    Computed tomography (CT)-compatible robots, both commercial and research-based, have been developed with the intention of increasing the accuracy of needle placement and potentially improving the outcomes of therapies in addition to reducing clinical staff and patient exposure to radiation during CT fluoroscopy. In the case of highly inaccessible lesions that require multiple plane angulations, robotically assisted needles may improve biopsy access and targeted drug delivery therapy by avoidance of the straight line path of normal linear needles. We report our preliminary experience of performing radiofrequency ablation of the liver using a robotic-assisted CT guidance system on 11 patients (17 lesions). Robotic-assisted planning and needle placement appears to have high accuracy, is technically easier than the non-robotic-assisted procedure, and involves a significantly lower radiation dose to both patient and support staff. (orig.)

  17. Optimal Trajectory Planning For Design of a Crawling Gait in a Robot Using Genetic Algorithm

    Directory of Open Access Journals (Sweden)

    SMRS. Noorani

    2011-03-01

    Full Text Available This paper describes a new locomotion mode to use in a crawling robot, inspired of real inchworm. The crawling device is modelled as a mobile manipulator, and for each step of its motion, the associated dynamics relations are derived using Euler-Lagrange equations. Next, the Genetic Algorithm (GA is utilized to optimize the trajectory of the free joints (active actuators in order to minimize the consumed effort (e.g. integral of square of torques over the step time. In this way, the results show a reduction of 5 to 37 percent in torque consumption in comparison with the gradient based method. Finally, numerical simulation for each step motion is presented to validate the proposed algorithm.

  18. Poster - Thur Eve - 50: Planning and delivery accuracy of stereotactic radiosurgery with Tomotherapy as compared to linear-accelerator and robotic based radiosurgery.

    Science.gov (United States)

    Thakur, V; Soisson, E; Ruo, R; Doucet, R; Parker, W; Seuntjens, J

    2012-07-01

    This study includes planning and delivery comparison of three stereotactic radiosurgery techniques : Helical Tomotherapy (HT), circular collimator-based Linear-accelerator and robotic-radiosurgery. Plans were generated for two spherical targets of diameter 6 mm and 10 mm contoured at the center of a Lucite phantom, using similar planning constrains. Planning comparison showed that average conformality (0-1best) for Linear-accelerator, robotic-radiosurgery and HT was 1.43, 1.24, and 1.77 and gradient index (less is better) was 2.72, 4.50 and 13.56 respectively. For delivery comparison, plans were delivered to radiochromic film and measured dose was compared with the planned dose. For Linear-accelerator and robotic-radiosurgery more than 99% pixels-passing a gamma criteria of 3% dose difference and 1 mm distance to agreement where as for HT this value was as low as 40% for off-axis targets. Further investigation of the delivery accuracy as a function of the location of the target with in the bore was initiated using small volume A1SL (0.057 cm 3 ) and MicroLion liquid ion chamber (0.0017 cm 3 ). Point dose measurements for targets located at the center and 10 cm away from the center of the bore showed that delivered dose varied by more than 15% for targets placed away from the center of the bore as opposed to at the center. In conclusion, Linear-accelerator and the robotic-radiosurgery techniques showed preferable gradient and conformality. For HT, point dose measurements were significantly lower than predicted by the TPS when the target was positioned away from the isocenter, while they were found to be higher at isocenter. © 2012 American Association of Physicists in Medicine.

  19. 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.

  20. Medical robotics.

    Science.gov (United States)

    Ferrigno, Giancarlo; Baroni, Guido; Casolo, Federico; De Momi, Elena; Gini, Giuseppina; Matteucci, Matteo; Pedrocchi, Alessandra

    2011-01-01

    Information and communication technology (ICT) and mechatronics play a basic role in medical robotics and computer-aided therapy. In the last three decades, in fact, ICT technology has strongly entered the health-care field, bringing in new techniques to support therapy and rehabilitation. In this frame, medical robotics is an expansion of the service and professional robotics as well as other technologies, as surgical navigation has been introduced especially in minimally invasive surgery. Localization systems also provide treatments in radiotherapy and radiosurgery with high precision. Virtual or augmented reality plays a role for both surgical training and planning and for safe rehabilitation in the first stage of the recovery from neurological diseases. Also, in the chronic phase of motor diseases, robotics helps with special assistive devices and prostheses. Although, in the past, the actual need and advantage of navigation, localization, and robotics in surgery and therapy has been in doubt, today, the availability of better hardware (e.g., microrobots) and more sophisticated algorithms(e.g., machine learning and other cognitive approaches)has largely increased the field of applications of these technologies,making it more likely that, in the near future, their presence will be dramatically increased, taking advantage of the generational change of the end users and the increasing request of quality in health-care delivery and management.

  1. Path Dependency

    OpenAIRE

    Mark Setterfield

    2015-01-01

    Path dependency is defined, and three different specific concepts of path dependency – cumulative causation, lock in, and hysteresis – are analyzed. The relationships between path dependency and equilibrium, and path dependency and fundamental uncertainty are also discussed. Finally, a typology of dynamical systems is developed to clarify these relationships.

  2. Path Planning for Mobile Objects in Four-Dimension Based on Particle Swarm Optimization Method with Penalty Function

    Directory of Open Access Journals (Sweden)

    Yong Ma

    2013-01-01

    Full Text Available We present one algorithm based on particle swarm optimization (PSO with penalty function to determine the conflict-free path for mobile objects in four-dimension (three spatial and one-time dimensions with obstacles. The shortest path of the mobile object is set as goal function, which is constrained by conflict-free criterion, path smoothness, and velocity and acceleration requirements. This problem is formulated as a calculus of variation problem (CVP. With parametrization method, the CVP is converted to a time-varying nonlinear programming problem (TNLPP. Constraints of TNLPP are transformed to general TNLPP without any constraints through penalty functions. Then, by using a little calculations and applying the algorithm PSO, the solution of the CVP is consequently obtained. Approach efficiency is confirmed by numerical examples.

  3. Autonomous mobile robotic system for supporting counterterrorist and surveillance operations

    Science.gov (United States)

    Adamczyk, Marek; Bulandra, Kazimierz; Moczulski, Wojciech

    2017-10-01

    Contemporary research on mobile robots concerns applications to counterterrorist and surveillance operations. The goal is to develop systems that are capable of supporting the police and special forces by carrying out such operations. The paper deals with a dedicated robotic system for surveillance of large objects such as airports, factories, military bases, and many others. The goal is to trace unauthorised persons who try to enter to the guarded area, document the intrusion and report it to the surveillance centre, and then warn the intruder by sound messages and eventually subdue him/her by stunning through acoustic effect of great power. The system consists of several parts. An armoured four-wheeled robot assures required mobility of the system. The robot is equipped with a set of sensors including 3D mapping system, IR and video cameras, and microphones. It communicates with the central control station (CCS) by means of a wideband wireless encrypted system. A control system of the robot can operate autonomously, and under remote control. In the autonomous mode the robot follows the path planned by the CCS. Once an intruder has been detected, the robot can adopt its plan to allow tracking him/her. Furthermore, special procedures of treatment of the intruder are applied including warning about the breach of the border of the protected area, and incapacitation of an appropriately selected very loud sound until a patrol of guards arrives. Once getting stuck the robot can contact the operator who can remotely solve the problem the robot is faced with.

  4. MO-DE-210-07: Investigation of Treatment Interferences of a Novel Robotic Ultrasound Radiotherapy Guidance System with Clinical VMAT Plans for Liver SBRT Patients

    Energy Technology Data Exchange (ETDEWEB)

    Gong, R [Stanford University, Palo Alto, CA (United States); Bruder, R; Schweikard, A [University of Luebeck, Luebeck, Schleswig-Holstein (Germany); Schlosser, J [SoniTrack Systems Inc., Mountain View, CA (United States); Hristov, D [Stanford University Cancer Center, Palo Alto, CA (United States)

    2015-06-15

    Purpose: To evaluate the proportion of liver SBRT cases in which robotic ultrasound image guidance concurrent with beam delivery can be deployed without interfering with clinically used VMAT beam configurations. Methods: A simulation environment incorporating LINAC, couch, planning CT, and robotic ultrasound guidance hardware was developed. Virtual placement of the robotic ultrasound hardware was guided by a target visibility map rendered on the CT surface. The map was computed on GPU by using the planning CT to simulate ultrasound propagation and attenuation along rays connecting skin surface points to a rasterized imaging target. The visibility map was validated in a prostate phantom experiment by capturing live ultrasound images of the prostate from different phantom locations. In 20 liver SBRT patients treated with VMAT, the simulation environment was used to place the robotic hardware and ultrasound probe at imaging locations indicated on the visibility map. Imaging targets were either entire PTV (range 5.9–679.5 ml) or entire GTV (range 0.9–343.4 ml). Presence or absence of mechanical collisions with LINAC, couch, and patient body as well as interferences with treated beams were recorded. Results: For PTV targets, robotic ultrasound guidance without mechanical collision was possible in 80% of the cases and guidance without beam interference was possible in 60% of the cases. For the smaller GTV targets, these proportions were 95% and 85% correspondingly. GTV size (1/20), elongated shape (1/20), and depth (1/20) were the main factors limiting the availability of non-interfering imaging positions. Conclusion: This study indicates that for VMAT liver SBRT, robotic ultrasound tracking of a relevant internal target would be possible in 85% of cases while using treatment plans currently deployed in the clinic. With beam re-planning in accordance with the presence of robotic ultrasound guidance, intra-fractional ultrasound guidance may be an option for 95% of the

  5. MO-DE-210-07: Investigation of Treatment Interferences of a Novel Robotic Ultrasound Radiotherapy Guidance System with Clinical VMAT Plans for Liver SBRT Patients

    International Nuclear Information System (INIS)

    Gong, R; Bruder, R; Schweikard, A; Schlosser, J; Hristov, D

    2015-01-01

    Purpose: To evaluate the proportion of liver SBRT cases in which robotic ultrasound image guidance concurrent with beam delivery can be deployed without interfering with clinically used VMAT beam configurations. Methods: A simulation environment incorporating LINAC, couch, planning CT, and robotic ultrasound guidance hardware was developed. Virtual placement of the robotic ultrasound hardware was guided by a target visibility map rendered on the CT surface. The map was computed on GPU by using the planning CT to simulate ultrasound propagation and attenuation along rays connecting skin surface points to a rasterized imaging target. The visibility map was validated in a prostate phantom experiment by capturing live ultrasound images of the prostate from different phantom locations. In 20 liver SBRT patients treated with VMAT, the simulation environment was used to place the robotic hardware and ultrasound probe at imaging locations indicated on the visibility map. Imaging targets were either entire PTV (range 5.9–679.5 ml) or entire GTV (range 0.9–343.4 ml). Presence or absence of mechanical collisions with LINAC, couch, and patient body as well as interferences with treated beams were recorded. Results: For PTV targets, robotic ultrasound guidance without mechanical collision was possible in 80% of the cases and guidance without beam interference was possible in 60% of the cases. For the smaller GTV targets, these proportions were 95% and 85% correspondingly. GTV size (1/20), elongated shape (1/20), and depth (1/20) were the main factors limiting the availability of non-interfering imaging positions. Conclusion: This study indicates that for VMAT liver SBRT, robotic ultrasound tracking of a relevant internal target would be possible in 85% of cases while using treatment plans currently deployed in the clinic. With beam re-planning in accordance with the presence of robotic ultrasound guidance, intra-fractional ultrasound guidance may be an option for 95% of the

  6. Force-feedback tele operation of industrial robots a cost effective solution for decontamination of nuclear plants

    International Nuclear Information System (INIS)

    Desbats, P.; Andriot, C.; Gicquel, P.; Viallesoubranne, J.P.; Souche, C.

    1998-01-01

    Decontamination and maintenance in hot cells are some new emerging applications of industrial robots in the nuclear fuel cycle plants. Industrial robots are low cost, accurate and reliable manipulator arms which are used in manufacturing industries usually. Thanks to the recent evolution of robotics technologies, some industrial robots may be adapted to nuclear environment. These robots are transportable, sealed and can be decontaminated, and they may be 'hardened' up to a level of irradiation dose sufficient for operation in low and medium irradiating/contaminating environments. Although industrial robots are usually programmed to perform specific and repetitive tasks, they may be remotely tele-operated by human operators as well. This allows industrial robots to perform usual tele-manipulation tasks encountered in the nuclear plants and more. The paper presents the computer based tele-operation control system TAO2000 TM , developed by the Tele-operation and Robotics Service of CEA, which has been applied to the RX90 TM industrial robot from ST-UBLI company. This robot has been selected in order to perform various maintenance and decontamination tasks in COGEMA plants. TAO2000 provides the overall tele-robotic and robotic functions necessary to perform any remote tele-operation application in hostile environment: force-feedback master-slave control; computer- assisted tele-operation of mechanical processes; trajectory programming as well as various robotics functions; graphical modelling of working environment and simulation; automatic path planning with obstacle avoidance; man-machine interface for tasks programming and mission execution. Experimental results reported in the paper demonstrate the feasibility of force-feedback master-slave control of standard industrial robots. Finally, the design of new, cost effective. tele-operation systems based on industrial robots may be intended for nuclear plants maintenance. (author)

  7. Knowledge assistant for robotic environmental characterization

    International Nuclear Information System (INIS)

    Feddema, J.; Rivera, J.; Tucker, S.; Matek, J.

    1996-08-01

    A prototype sensor fusion framework called the open-quotes Knowledge Assistantclose quotes has been developed and tested on a gantry robot at Sandia National Laboratories. This Knowledge Assistant guides the robot operator during the planning, execution, and post analysis stages of the characterization process. During the planning stage, the Knowledge Assistant suggests robot paths and speeds based on knowledge of sensors available and their physical characteristics. During execution, the Knowledge Assistant coordinates the collection of data through a data acquisition open-quotes specialist.close quotes During execution and postanalysis, the Knowledge Assistant sends raw data to other open-quotes specialists,close quotes which include statistical pattern recognition software, a neural network, and model-based search software. After the specialists return their results, the Knowledge Assistant consolidates the information and returns a report to the robot control system where the sensed objects and their attributes (e.g., estimated dimensions, weight, material composition, etc.) are displayed in the world model. This report highlights the major components of this system

  8. Human and Robotic Mission to Small Bodies: Mapping, Planning and Exploration

    Science.gov (United States)

    Neffian, Ara V.; Bellerose, Julie; Beyer, Ross A.; Archinal, Brent; Edwards, Laurence; Lee, Pascal; Colaprete, Anthony; Fong, Terry

    2013-01-01

    This study investigates the requirements, performs a gap analysis and makes a set of recommendations for mapping products and exploration tools required to support operations and scientific discovery for near- term and future NASA missions to small bodies. The mapping products and their requirements are based on the analysis of current mission scenarios (rendezvous, docking, and sample return) and recommendations made by the NEA Users Team (NUT) in the framework of human exploration. The mapping products that sat- isfy operational, scienti c, and public outreach goals include topography, images, albedo, gravity, mass, density, subsurface radar, mineralogical and thermal maps. The gap analysis points to a need for incremental generation of mapping products from low (flyby) to high-resolution data needed for anchoring and docking, real-time spatial data processing for hazard avoidance and astronaut or robot localization in low gravity, high dynamic environments, and motivates a standard for coordinate reference systems capable of describing irregular body shapes. Another aspect investigated in this study is the set of requirements and the gap analysis for exploration tools that support visualization and simulation of operational conditions including soil interactions, environment dynamics, and communications coverage. Building robust, usable data sets and visualisation/simulation tools is the best way for mission designers and simulators to make correct decisions for future missions. In the near term, it is the most useful way to begin building capabilities for small body exploration without needing to commit to specific mission architectures.

  9. Robot Actors, Robot Dramaturgies

    DEFF Research Database (Denmark)

    Jochum, Elizabeth

    This paper considers the use of tele-operated robots in live performance. Robots and performance have long been linked, from the working androids and automata staged in popular exhibitions during the nineteenth century and the robots featured at Cybernetic Serendipity (1968) and the World Expo...

  10. Energy-optimal motion planning for multiple robotic vehicles with collision avoidance

    NARCIS (Netherlands)

    Häusler, A.J.; Saccon, A.; Aguiar, A.P.; Hauser, J.; Pascoal, A.M.

    2016-01-01

    We propose a numerical algorithm for multiple-vehicle motion planning that explicitly takes into account the vehicle dynamics, temporal and spatial specifications, and energy-related requirements. As a motivating example, we consider the case where a group of vehicles is tasked to reach a number of

  11. Physics-Based Robot Motion Planning in Dynamic Multi-Body Environments

    Science.gov (United States)

    2010-05-10

    until they’re not. Jean-Luc Picard (Star Trek : The Next Generation) viii Contents 1 Introduction 1 1.1 Approach...Planning in very rough terrain. In NASA Science Technology Conference 2007 (NSTC 2007), 2007. 10.2 [68] D.J. Montana. The kinematics of contact and grasp

  12. Robotic architectures

    CSIR Research Space (South Africa)

    Mtshali, M

    2010-01-01

    Full Text Available In the development of mobile robotic systems, a robotic architecture plays a crucial role in interconnecting all the sub-systems and controlling the system. The design of robotic architectures for mobile autonomous robots is a challenging...

  13. Biped Robot Gait Planning Based on 3D Linear Inverted Pendulum Model

    Science.gov (United States)

    Yu, Guochen; Zhang, Jiapeng; Bo, Wu

    2018-01-01

    In order to optimize the biped robot’s gait, the biped robot’s walking motion is simplify to the 3D linear inverted pendulum motion mode. The Center of Mass (CoM) locus is determined from the relationship between CoM and the Zero Moment Point (ZMP) locus. The ZMP locus is planned in advance. Then, the forward gait and lateral gait are simplified as connecting rod structure. Swing leg trajectory using B-spline interpolation. And the stability of the walking process is discussed in conjunction with the ZMP equation. Finally the system simulation is carried out under the given conditions to verify the validity of the proposed planning method.

  14. A Plan for the Development of Fusion Energy. Final Report to Fusion Energy Sciences Advisory Committee, Fusion Development Path Panel

    Energy Technology Data Exchange (ETDEWEB)

    None, None

    2003-03-05

    This report presents a plan for the deployment of a fusion demonstration power plant within 35 years, leading to commercial application of fusion energy by mid-century. The plan is derived from the necessary features of a demonstration fusion power plant and from the time scale defined by President Bush. It identifies critical milestones, key decision points, needed major facilities and required budgets.

  15. An adaptive dual-optimal path-planning technique for unmanned air vehicles with application to solar-regenerative high altitude long endurance flight

    Science.gov (United States)

    Whitfield, Clifford A.

    2009-12-01

    A multi-objective technique for Unmanned Air Vehicle (UAV) path and trajectory autonomy generation, through task allocation and sensor fusion has been developed. The Dual-Optimal Path-Planning (D-O.P-P.) Technique generates on-line adaptive flight paths for UAVs based on available flight windows and environmental influenced objectives. The environmental influenced optimal condition, known as the driver' determines the condition, within a downstream virtual window of possible vehicle destinations and orientation built from the UAV kinematics. The intermittent results are pursued by a dynamic optimization technique to determine the flight path. This sequential optimization technique is a multi-objective optimization procedure consisting of two goals, without requiring additional information to combine the conflicting objectives into a single-objective. An example case-study and additional applications are developed and the results are discussed; including the application to the field of Solar Regenerative (SR) High Altitude Long Endurance (HALE) UAV flight. Harnessing solar energy has recently been adapted for use on high altitude UAV platforms. An aircraft that uses solar panels and powered by the sun during the day and through the night by SR systems, in principle could sustain flight for weeks or months. The requirements and limitations of solar powered flight were determined. The SR-HALE UAV platform geometry and flight characteristics were selected from an existing aircraft that has demonstrated the capability for sustained flight through flight tests. The goals were to maintain continual Situational Awareness (SA) over a case-study selected Area of Interest (AOI) and existing UAV power and surveillance systems. This was done for still wind and constant wind conditions at altitude along with variations in latitude. The characteristics of solar flux and the dependence on the surface location and orientation were established along with fixed flight maneuvers for

  16. Control of Multiple Robotic Sentry Vehicles

    Energy Technology Data Exchange (ETDEWEB)

    Feddema, J.; Klarer, P.; Lewis, C.

    1999-04-01

    As part of a project for the Defense Advanced Research Projects Agency, Sandia National Laboratories is developing and testing the feasibility of using of a cooperative team of robotic sentry vehicles to guard a perimeter and to perform surround and diversion tasks. This paper describes on-going activities in the development of these robotic sentry vehicles. To date, we have developed a robotic perimeter detection system which consists of eight ''Roving All Terrain Lunar Explorer Rover'' (RATLER{trademark}) vehicles, a laptop-based base-station, and several Miniature Intrusion Detection Sensors (MIDS). A radio frequency receiver on each of the RATLER vehicles alerts the sentry vehicles of alarms from the hidden MIDS. When an alarm is received, each vehicle decides whether it should investigate the alarm based on the proximity of itself and the other vehicles to the alarm. As one vehicle attends an alarm, the other vehicles adjust their position around the perimeter to better prepare for another alarm. We have also demonstrated the ability to drive multiple vehicles in formation via tele-operation or by waypoint GPS navigation. This is currently being extended to include mission planning capabilities. At the base-station, the operator can draw on an aerial map the goal regions to be surrounded and the repulsive regions to be avoided. A potential field path planner automatically generates a path from the vehicles' current position to the goal regions while avoiding the repulsive regions and the other vehicles. This path is previewed to the operator before the regions are downloaded to the vehicles. The same potential field path planner resides on the vehicle, except additional repulsive forces from on-board proximity sensors guide the vehicle away from unplanned obstacles.

  17. 2016 International Symposium on Experimental Robotics

    CERN Document Server

    Nakamura, Yoshihiko; Khatib, Oussama; Venture, Gentiane

    2017-01-01

    Experimental Robotics XV is the collection of papers presented at the International Symposium on Experimental Robotics, Roppongi, Tokyo, Japan on October 3-6, 2016. 73 scientific papers were selected and presented after peer review. The papers span a broad range of sub-fields in robotics including aerial robots, mobile robots, actuation, grasping, manipulation, planning and control and human-robot interaction, but shared cutting-edge approaches and paradigms to experimental robotics. The readers will find a breadth of new directions of experimental robotics. The International Symposium on Experimental Robotics is a series of bi-annual symposia sponsored by the International Foundation of Robotics Research, whose goal is to provide a forum dedicated to experimental robotics research. Robotics has been widening its scientific scope, deepening its methodologies and expanding its applications. However, the significance of experiments remains and will remain at the center of the discipline. The ISER gatherings are...

  18. Heading Estimation of Robot Combine Harvesters during Turning Maneuveres

    Directory of Open Access Journals (Sweden)

    Md Mostafizar Rahman

    2018-05-01

    Full Text Available Absolute heading is an important parameter for a robot combine harvester or a robot tracked combine harvester, especially while it is turning, but due to the rapid turning of robot combine harvesters, its inertial measurement unit gives a gyro measurement bias that causes heading drift. Our research goal is to estimate the absolute heading of robot combine harvesters by compensating this gyro measurement bias during non-linear turning maneuvers. A sensor fusion method like the extended Kalman filter combined with the tracked combine harvester dynamic model and sensor measurements was used to estimate the absolute heading of a robot combine harvester. Circular, sinusoidal and concave shapes were used to evaluate the estimated heading produced by the sensor fusion method. The results indicate that the estimated heading is better than measured heading which was calculated from the integration of yaw rate gyro measurements, and the root mean square errors (RMSEs for estimated headings are smaller than the measured headings. In practics, the target of this paper is thus the estimation of a heading or absolute heading that is bias compensated, and can be further used to calculate the exact crop periphery for automatic path planning of robot combine harvesters.

  19. Heading Estimation of Robot Combine Harvesters during Turning Maneuveres.

    Science.gov (United States)

    Rahman, Md Mostafizar; Ishii, Kazunobu

    2018-05-01

    Absolute heading is an important parameter for a robot combine harvester or a robot tracked combine harvester, especially while it is turning, but due to the rapid turning of robot combine harvesters, its inertial measurement unit gives a gyro measurement bias that causes heading drift. Our research goal is to estimate the absolute heading of robot combine harvesters by compensating this gyro measurement bias during non-linear turning maneuvers. A sensor fusion method like the extended Kalman filter combined with the tracked combine harvester dynamic model and sensor measurements was used to estimate the absolute heading of a robot combine harvester. Circular, sinusoidal and concave shapes were used to evaluate the estimated heading produced by the sensor fusion method. The results indicate that the estimated heading is better than measured heading which was calculated from the integration of yaw rate gyro measurements, and the root mean square errors (RMSEs) for estimated headings are smaller than the measured headings. In practics, the target of this paper is thus the estimation of a heading or absolute heading that is bias compensated, and can be further used to calculate the exact crop periphery for automatic path planning of robot combine harvesters.

  20. Towards Autonomous Operations of the Robonaut 2 Humanoid Robotic Testbed

    Science.gov (United States)

    Badger, Julia; Nguyen, Vienny; Mehling, Joshua; Hambuchen, Kimberly; Diftler, Myron; Luna, Ryan; Baker, William; Joyce, Charles

    2016-01-01

    The Robonaut project has been conducting research in robotics technology on board the International Space Station (ISS) since 2012. Recently, the original upper body humanoid robot was upgraded by the addition of two climbing manipulators ("legs"), more capable processors, and new sensors, as shown in Figure 1. While Robonaut 2 (R2) has been working through checkout exercises on orbit following the upgrade, technology development on the ground has continued to advance. Through the Active Reduced Gravity Offload System (ARGOS), the Robonaut team has been able to develop technologies that will enable full operation of the robotic testbed on orbit using similar robots located at the Johnson Space Center. Once these technologies have been vetted in this way, they will be implemented and tested on the R2 unit on board the ISS. The goal of this work is to create a fully-featured robotics research platform on board the ISS to increase the technology readiness level of technologies that will aid in future exploration missions. Technology development has thus far followed two main paths, autonomous climbing and efficient tool manipulation. Central to both technologies has been the incorporation of a human robotic interaction paradigm that involves the visualization of sensory and pre-planned command data with models of the robot and its environment. Figure 2 shows screenshots of these interactive tools, built in rviz, that are used to develop and implement these technologies on R2. Robonaut 2 is designed to move along the handrails and seat track around the US lab inside the ISS. This is difficult for many reasons, namely the environment is cluttered and constrained, the robot has many degrees of freedom (DOF) it can utilize for climbing, and remote commanding for precision tasks such as grasping handrails is time-consuming and difficult. Because of this, it is important to develop the technologies needed to allow the robot to reach operator-specified positions as

  1. Automatic entry point planning for robotic post-mortem CT-based needle placement.

    Science.gov (United States)

    Ebert, Lars C; Fürst, Martin; Ptacek, Wolfgang; Ruder, Thomas D; Gascho, Dominic; Schweitzer, Wolf; Thali, Michael J; Flach, Patricia M

    2016-09-01

    Post-mortem computed tomography guided placement of co-axial introducer needles allows for the extraction of tissue and liquid samples for histological and toxicological analyses. Automation of this process can increase the accuracy and speed of the needle placement, thereby making it more feasible for routine examinations. To speed up the planning process and increase safety, we developed an algorithm that calculates an optimal entry point and end-effector orientation for a given target point, while taking constraints such as accessibility or bone collisions into account. The algorithm identifies the best entry point for needle trajectories in three steps. First, the source CT data is prepared and bone as well as surface data are extracted and optimized. All vertices of the generated surface polygon are considered to be potential entry points. Second, all surface points are tested for validity within the defined hard constraints (reachability, bone collision as well as collision with other needles) and removed if invalid. All remaining vertices are reachable entry points and are rated with respect to needle insertion angle. Third, the vertex with the highest rating is selected as the final entry point, and the best end-effector rotation is calculated to avoid collisions with the body and already set needles. In most cases, the algorithm is sufficiently fast with approximately 5-6 s per entry point. This is the case if there is no collision between the end-effector and the body. If the end-effector has to be rotated to avoid collision, calculation times can increase up to 24 s due to the inefficient collision detection used here. In conclusion, the algorithm allows for fast and facilitated trajectory planning in forensic imaging.

  2. Dynamic whole-body robotic manipulation

    Science.gov (United States)

    Abe, Yeuhi; Stephens, Benjamin; Murphy, Michael P.; Rizzi, Alfred A.

    2013-05-01

    The creation of dynamic manipulation behaviors for high degree of freedom, mobile robots will allow them to accomplish increasingly difficult tasks in the field. We are investigating how the coordinated use of the body, legs, and integrated manipulator, on a mobile robot, can improve the strength, velocity, and workspace when handling heavy objects. We envision that such a capability would aid in a search and rescue scenario when clearing obstacles from a path or searching a rubble pile quickly. Manipulating heavy objects is especially challenging because the dynamic forces are high and a legged system must coordinate all its degrees of freedom to accomplish tasks while maintaining balance. To accomplish these types of manipulation tasks, we use trajectory optimization techniques to generate feasible open-loop behaviors for our 28 dof quadruped robot (BigDog) by planning trajectories in a 13 dimensional space. We apply the Covariance Matrix Adaptation (CMA) algorithm to solve for trajectories that optimize task performance while also obeying important constraints such as torque and velocity limits, kinematic limits, and center of pressure location. These open-loop behaviors are then used to generate desired feed-forward body forces and foot step locations, which enable tracking on the robot. Some hardware results for cinderblock throwing are demonstrated on the BigDog quadruped platform augmented with a human-arm-like manipulator. The results are analogous to how a human athlete maximizes distance in the discus event by performing a precise sequence of choreographed steps.

  3. An Aerial-Ground Robotic System for Navigation and Obstacle Mapping in Large Outdoor Areas

    Directory of Open Access Journals (Sweden)

    David Zapata

    2013-01-01

    Full Text Available There are many outdoor robotic applications where a robot must reach a goal position or explore an area without previous knowledge of the environment around it. Additionally, other applications (like path planning require the use of known maps or previous information of the environment. This work presents a system composed by a terrestrial and an aerial robot that cooperate and share sensor information in order to address those requirements. The ground robot is able to navigate in an unknown large environment aided by visual feedback from a camera on board the aerial robot. At the same time, the obstacles are mapped in real-time by putting together the information from the camera and the positioning system of the ground robot. A set of experiments were carried out with the purpose of verifying the system applicability. The experiments were performed in a simulation environment and outdoor with a medium-sized ground robot and a mini quad-rotor. The proposed robotic system shows outstanding results in simultaneous navigation and mapping applications in large outdoor environments.

  4. Artificial intelligence approach to planning the robotic assembly of large tetrahedral truss structures

    Science.gov (United States)

    Homemdemello, Luiz S.

    1992-01-01

    An assembly planner for tetrahedral truss structures is presented. To overcome the difficulties due to the large number of parts, the planner exploits the simplicity and uniformity of the shapes of the parts and the regularity of their interconnection. The planning automation is based on the computational formalism known as production system. The global data base consists of a hexagonal grid representation of the truss structure. This representation captures the regularity of tetrahedral truss structures and their multiple hierarchies. It maps into quadratic grids and can be implemented in a computer by using a two-dimensional array data structure. By maintaining the multiple hierarchies explicitly in the model, the choice of a particular hierarchy is only made when needed, thus allowing a more informed decision. Furthermore, testing the preconditions of the production rules is simple because the patterned way in which the struts are interconnected is incorporated into the topology of the hexagonal grid. A directed graph representation of assembly sequences allows the use of both graph search and backtracking control strategies.

  5. Towards Using a Generic Robot as Training Partner

    DEFF Research Database (Denmark)

    Sørensen, Anders Stengaard; Savarimuthu, Thiusius Rajeeth; Nielsen, Jacob

    2014-01-01

    In this paper, we demonstrate how a generic industrial robot can be used as a training partner, for upper limb training. The motion path and human/robot interaction of a non-generic upper-arm training robot is transferred to a generic industrial robot arm, and we demonstrate that the robot arm can...... implement the same type of interaction, but can expand the training regime to include both upper arm and shoulder training. We compare the generic robot to two affordable but custom-built training robots, and outline interesting directions for future work based on these training robots....

  6. Path Expressions

    Science.gov (United States)

    1975-06-01

    Traditionally, synchronization of concurrent processes is coded in line by operations on semaphores or similar objects. Path expressions move the...discussion about a variety of synchronization primitives . An analysis of their relative power is found in [3]. Path expressions do not introduce yet...another synchronization primitive . A path expression relates to such primitives as a for- or while-statement of an ALGOL-like language relates to a JUMP

  7. Human Robot Interaction for Hybrid Collision Avoidance System for Indoor Mobile Robots

    Directory of Open Access Journals (Sweden)

    Mazen Ghandour

    2017-06-01

    Full Text Available In this paper, a novel approach for collision avoidance for indoor mobile robots based on human-robot interaction is realized. The main contribution of this work is a new technique for collision avoidance by engaging the human and the robot in generating new collision-free paths. In mobile robotics, collision avoidance is critical for the success of the robots in implementing their tasks, especially when the robots navigate in crowded and dynamic environments, which include humans. Traditional collision avoidance methods deal with the human as a dynamic obstacle, without taking into consideration that the human will also try to avoid the robot, and this causes the people and the robot to get confused, especially in crowded social places such as restaurants, hospitals, and laboratories. To avoid such scenarios, a reactive-supervised collision avoidance system for mobile robots based on human-robot interaction is implemented. In this method, both the robot and the human will collaborate in generating the collision avoidance via interaction. The person will notify the robot about the avoidance direction via interaction, and the robot will search for the optimal collision-free path on the selected direction. In case that no people interacted with the robot, it will select the navigation path autonomously and select the path that is closest to the goal location. The humans will interact with the robot using gesture recognition and Kinect sensor. To build the gesture recognition system, two models were used to classify these gestures, the first model is Back-Propagation Neural Network (BPNN, and the second model is Support Vector Machine (SVM. Furthermore, a novel collision avoidance system for avoiding the obstacles is implemented and integrated with the HRI system. The system is tested on H20 robot from DrRobot Company (Canada and a set of experiments were implemented to report the performance of the system in interacting with the human and avoiding

  8. Performance comparison of novel WNN approach with RBFNN in navigation of autonomous mobile robotic agent

    Directory of Open Access Journals (Sweden)

    Ghosh Saradindu

    2016-01-01

    Full Text Available This paper addresses the performance comparison of Radial Basis Function Neural Network (RBFNN with novel Wavelet Neural Network (WNN of designing intelligent controllers for path planning of mobile robot in an unknown environment. In the proposed WNN, different types of activation functions such as Mexican Hat, Gaussian and Morlet wavelet functions are used in the hidden nodes. The neural networks are trained by an intelligent supervised learning technique so that the robot makes a collision-free path in the unknown environment during navigation from different starting points to targets/goals. The efficiency of two algorithms is compared using some MATLAB simulations and experimental setup with Arduino Mega 2560 microcontroller in terms of path length and time taken to reach the target as an indicator for the accuracy of the network models.

  9. The efficacy and utilisation of preoperative multiparametric magnetic resonance imaging in robot-assisted radical prostatectomy: does it change the surgical dissection plan?

    Science.gov (United States)

    Tavukçu, Hasan Hüseyin; Aytaç, Ömer; Balcı, Numan Cem; Kulaksızoğlu, Haluk; Atuğ, Fatih

    2017-12-01

    We investigated the effect of the use of multiparametric prostate magnetic resonance imaging (mp-MRI) on the dissection plan of the neurovascular bundle and the oncological results of our patients who underwent robot-assisted radical prostatectomy. We prospectively evaluated 60 consecutive patients, including 30 patients who had (Group 1), and 30 patients who had not (Group 2) mp-MRI before robot-assisted radical prostatectomy. Based on the findings of mp-MRI, the dissection plan was changed as intrafascial, interfascial, and extrafascial in the mp-MRI group. Two groups were compared in terms of age, prostate-specific antigen (PSA), Gleason sum scores and surgical margin positivity. There was no statistically significant difference between the two groups in terms of age, PSA, biopsy Gleason score, final pathological Gleason score and surgical margin positivity. mp-MRI changed the initial surgical plan in 18 of 30 patients (60%) in Group 1. In seventeen of these patients (56%) surgical plan was changed from non-nerve sparing to interfascial nerve sparing plan. In one patient dissection plan was changed to non-nerve sparing technique which had extraprostatic extension on final pathology. Surgical margin positivity was similar in Groups 1, and 2 (16% and 13%, respectively) although, Group 1 had higher number of high- risk patients. mp-MRI confirmed the primary tumour localisation in the final pathology in 27 of of 30 patients (90%). Preoperative mp-MRI effected the decision to perform a nerve-sparing technique in 56% of the patients in our study; moreover, changing the dissection plan from non-nerve-sparing technique to a nerve sparing technique did not increase the rate of surgical margin positivity.

  10. Space station automation: the role of robotics and artificial intelligence (Invited Paper)

    Science.gov (United States)

    Park, W. T.; Firschein, O.

    1985-12-01

    Automation of the space station is necessary to make more effective use of the crew, to carry out repairs that are impractical or dangerous, and to monitor and control the many space station subsystems. Intelligent robotics and expert systems play a strong role in automation, and both disciplines are highly dependent on a common artificial intelligence (Al) technology base. The AI technology base provides the reasoning and planning capabilities needed in robotic tasks, such as perception of the environment and planning a path to a goal, and in expert systems tasks, such as control of subsystems and maintenance of equipment. This paper describes automation concepts for the space station, the specific robotic and expert systems required to attain this automation, and the research and development required. It also presents an evolutionary development plan that leads to fully automatic mobile robots for servicing satellites. Finally, we indicate the sequence of demonstrations and the research and development needed to confirm the automation capabilities. We emphasize that advanced robotics requires AI, and that to advance, AI needs the "real-world" problems provided by robotics.

  11. A new optimization tool path planning for 3-axis end milling of free-form surfaces based on efficient machining intervals

    Science.gov (United States)

    Vu, Duy-Duc; Monies, Frédéric; Rubio, Walter

    2018-05-01

    A large number of studies, based on 3-axis end milling of free-form surfaces, seek to optimize tool path planning. Approaches try to optimize the machining time by reducing the total tool path length while respecting the criterion of the maximum scallop height. Theoretically, the tool path trajectories that remove the most material follow the directions in which the machined width is the largest. The free-form surface is often considered as a single machining area. Therefore, the optimization on the entire surface is limited. Indeed, it is difficult to define tool trajectories with optimal feed directions which generate largest machined widths. Another limiting point of previous approaches for effectively reduce machining time is the inadequate choice of the tool. Researchers use generally a spherical tool on the entire surface. However, the gains proposed by these different methods developed with these tools lead to relatively small time savings. Therefore, this study proposes a new method, using toroidal milling tools, for generating toolpaths in different regions on the machining surface. The surface is divided into several regions based on machining intervals. These intervals ensure that the effective radius of the tool, at each cutter-contact points on the surface, is always greater than the radius of the tool in an optimized feed direction. A parallel plane strategy is then used on the sub-surfaces with an optimal specific feed direction for each sub-surface. This method allows one to mill the entire surface with efficiency greater than with the use of a spherical tool. The proposed method is calculated and modeled using Maple software to find optimal regions and feed directions in each region. This new method is tested on a free-form surface. A comparison is made with a spherical cutter to show the significant gains obtained with a toroidal milling cutter. Comparisons with CAM software and experimental validations are also done. The results show the

  12. Using meta-analytic path analysis to test theoretical predictions in health behavior: An illustration based on meta-analyses of the theory of planned behavior.

    Science.gov (United States)

    Hagger, Martin S; Chan, Derwin K C; Protogerou, Cleo; Chatzisarantis, Nikos L D

    2016-08-01

    Synthesizing research on social cognitive theories applied to health behavior is an important step in the development of an evidence base of psychological factors as targets for effective behavioral interventions. However, few meta-analyses of research on social cognitive theories in health contexts have conducted simultaneous tests of theoretically-stipulated pattern effects using path analysis. We argue that conducting path analyses of meta-analytic effects among constructs from social cognitive theories is important to test nomological validity, account for mediation effects, and evaluate unique effects of theory constructs independent of past behavior. We illustrate our points by conducting new analyses of two meta-analyses of a popular theory applied to health behaviors, the theory of planned behavior. We conducted meta-analytic path analyses of the theory in two behavioral contexts (alcohol and dietary behaviors) using data from the primary studies included in the original meta-analyses augmented to include intercorrelations among constructs and relations with past behavior missing from the original analysis. Findings supported the nomological validity of the theory and its hypotheses for both behaviors, confirmed important model processes through mediation analysis, demonstrated the attenuating effect of past behavior on theory relations, and provided estimates of the unique effects of theory constructs independent of past behavior. Our analysis illustrates the importance of conducting a simultaneous test of theory-stipulated effects in meta-analyses of social cognitive theories applied to health behavior. We recommend researchers adopt this analytic procedure when synthesizing evidence across primary tests of social cognitive theories in health. Copyright © 2016 Elsevier Inc. All rights reserved.

  13. Design and Implementation of Fire Extinguisher Robot with Robotic Arm

    Directory of Open Access Journals (Sweden)

    Memon Abdul Waris

    2018-01-01

    Full Text Available Robot is a device, which performs human task or behave like a human-being. It needs expertise skills and complex programming to design. For designing a fire fighter robot, many sensors and motors were used. User firstly send robot to an affected area, to get live image of the field with the help of mobile camera via Wi-Fi using IP camera application to laptop. If any signs of fire shown in image, user direct robot in that particular direction for confirmation. Fire sensor and temperature sensor detects and measures the reading, after confirmation robot sprinkle water on affected field. During extinguish process if any obstacle comes in between the prototype and the affected area the ultrasonic sensor detects the obstacle, in response the robotic arm moves to pick and place that obstacle to another location for clearing the path. Meanwhile if any poisonous gas is present, the gas sensor detects and indicates by making alarm.

  14. Needle path planning and steering in a three-dimensional non-static environment using two-dimensional ultrasound images

    Science.gov (United States)

    Vrooijink, Gustaaf J.; Abayazid, Momen; Patil, Sachin; Alterovitz, Ron; Misra, Sarthak

    2015-01-01

    Needle insertion is commonly performed in minimally invasive medical procedures such as biopsy and radiation cancer treatment. During such procedures, accurate needle tip placement is critical for correct diagnosis or successful treatment. Accurate placement of the needle tip inside tissue is challenging, especially when the target moves and anatomical obstacles must be avoided. We develop a needle steering system capable of autonomously and accurately guiding a steerable needle using two-dimensional (2D) ultrasound images. The needle is steered to a moving target while avoiding moving obstacles in a three-dimensional (3D) non-static environment. Using a 2D ultrasound imaging device, our system accurately tracks the needle tip motion in 3D space in order to estimate the tip pose. The needle tip pose is used by a rapidly exploring random tree-based motion planner to compute a feasible needle path to the target. The motion planner is sufficiently fast such that replanning can be performed repeatedly in a closed-loop manner. This enables the system to correct for perturbations in needle motion, and movement in obstacle and target locations. Our needle steering experiments in a soft-tissue phantom achieves maximum targeting errors of 0.86 ± 0.35 mm (without obstacles) and 2.16 ± 0.88 mm (with a moving obstacle). PMID:26279600

  15. Robot Motion and Control 2011

    CERN Document Server

    2012-01-01

    Robot Motion Control 2011 presents very recent results in robot motion and control. Forty short papers have been chosen from those presented at the sixth International Workshop on Robot Motion and Control held in Poland in June 2011. The authors of these papers have been carefully selected and represent leading institutions in this field. The following recent developments are discussed: • Design of trajectory planning schemes for holonomic and nonholonomic systems with optimization of energy, torque limitations and other factors. • New control algorithms for industrial robots, nonholonomic systems and legged robots. • Different applications of robotic systems in industry and everyday life, like medicine, education, entertainment and others. • Multiagent systems consisting of mobile and flying robots with their applications The book is suitable for graduate students of automation and robotics, informatics and management, mechatronics, electronics and production engineering systems as well as scientists...

  16. Plataforma autónoma inteligente para fútbol robot

    Directory of Open Access Journals (Sweden)

    Cesar Hernán Rodríguez Garavito

    2008-01-01

    Full Text Available This article presents the design, implementation, virtual simulation and test results for a hardware-software platform for robot soccer. The platform consists of a soccer field, a software-controlled mobile agent (AMC, a user-controlled mobile agent (MCU, a golf ball, an image sensor system and a path-planning controller. The problem for agent AMC is to sense the environment and move to a kicking position to score while avoiding opponents in its way. The soccer field is a bounded area of 1.5m x 2m in which mobile agents move following differential robot kinematics at 25.7cm/s speed; each robot has a kicking system which can speed up a golf ball at 1.43m/s velocity. A position sensor was implemented and optimised in three stages: capturing the soccer field image, converting to HSI format and applying digital filters and calculating the Cartesian components from colour patterns for identifying the mobile robots and the golf ball. Image sensor system processing speed is 30 frames per second. Robot path planning is controlled by a hybrid strategy based on two linearly combined fuzzy logic controllers; one takes agent AMC to the goal position and the other avoids obstacles while it moves to the goal position.

  17. Time optimal paths for high speed maneuvering

    Energy Technology Data Exchange (ETDEWEB)

    Reister, D.B.; Lenhart, S.M.

    1993-01-01

    Recent theoretical results have completely solved the problem of determining the minimum length path for a vehicle with a minimum turning radius moving from an initial configuration to a final configuration. Time optimal paths for a constant speed vehicle are a subset of the minimum length paths. This paper uses the Pontryagin maximum principle to find time optimal paths for a constant speed vehicle. The time optimal paths consist of sequences of axes of circles and straight lines. The maximum principle introduces concepts (dual variables, bang-bang solutions, singular solutions, and transversality conditions) that provide important insight into the nature of the time optimal paths. We explore the properties of the optimal paths and present some experimental results for a mobile robot following an optimal path.

  18. Roles and Self-Reconfigurable Robots

    DEFF Research Database (Denmark)

    Dvinge, Nicolai; Schultz, Ulrik Pagh; Christensen, David Johan

    2007-01-01

    A self-reconfigurable robot is a robotic device that can change its own shape. Self-reconfigurable robots are commonly built from multiple identical modules that can manipulate each other to change the shape of the robot. The robot can also perform tasks such as locomotion without changing shape......., significantly simplifying the task of programming self-reconfigurable robots. Our language fully supports programming the ATRON self-reconfigurable robot, and has been used to implement several controllers running both on the physical modules and in simulation.......A self-reconfigurable robot is a robotic device that can change its own shape. Self-reconfigurable robots are commonly built from multiple identical modules that can manipulate each other to change the shape of the robot. The robot can also perform tasks such as locomotion without changing shape....... Programming a modular, self-reconfigurable robot is however a complicated task: the robot is essentially a real-time, distributed embedded system, where control and communication paths often are tightly coupled to the current physical configuration of the robot. To facilitate the task of programming modular...

  19. A program-management plan with critical-path definition for Combustion Augmentation with Thermionic Energy Conversion (CATEC)

    Science.gov (United States)

    Morris, J. F.; Merrill, O. S.; Reddy, H. K.

    1981-01-01

    Thermionic energy conversion (TEC) is discussed. In recent TEC-topping analyses, overall plant efficiency (OPE) and cost of electricity (COE) improved slightly with current capabilities and substantially with fully matured technologies. Enhanced credibility derives from proven hot-corrosion protection for TEC by silicon-carbide clads in fossil fuel combustion products. Combustion augmentation with TEC (CATEC) affords minimal cost and plant perturbation, but with smaller OPE and COE improvements than more conventional topping applications. Risk minimization as well as comparative simplicity and convenience, favor CATEC for early market penetration. A program-management plan is proposed. Inputs, characteristics, outputs and capabilities are discussed.

  20. A program-management plan with critical-path definition for Combustion Augmentation with Thermionic Energy Conversion (CATEC)

    Science.gov (United States)

    Morris, J. F.; Merrill, O. S.; Reddy, H. K.

    Thermionic energy conversion (TEC) is discussed. In recent TEC-topping analyses, overall plant efficiency (OPE) and cost of electricity (COE) improved slightly with current capabilities and substantially with fully matured technologies. Enhanced credibility derives from proven hot-corrosion protection for TEC by silicon-carbide clads in fossil fuel combustion products. Combustion augmentation with TEC (CATEC) affords minimal cost and plant perturbation, but with smaller OPE and COE improvements than more conventional topping applications. Risk minimization as well as comparative simplicity and convenience, favor CATEC for early market penetration. A program-management plan is proposed. Inputs, characteristics, outputs and capabilities are discussed.

  1. A New Path-Constrained Rendezvous Planning Approach for Large-Scale Event-Driven Wireless Sensor Networks

    Directory of Open Access Journals (Sweden)

    Ahmadreza Vajdi

    2018-05-01

    Full Text Available We study the problem of employing a mobile-sink into a large-scale Event-Driven Wireless Sensor Networks (EWSNs for the purpose of data harvesting from sensor-nodes. Generally, this employment improves the main weakness of WSNs that is about energy-consumption in battery-driven sensor-nodes. The main motivation of our work is to address challenges which are related to a network’s topology by adopting a mobile-sink that moves in a predefined trajectory in the environment. Since, in this fashion, it is not possible to gather data from sensor-nodes individually, we adopt the approach of defining some of the sensor-nodes as Rendezvous Points (RPs in the network. We argue that RP-planning in this case is a tradeoff between minimizing the number of RPs while decreasing the number of hops for a sensor-node that needs data transformation to the related RP which leads to minimizing average energy consumption in the network. We address the problem by formulating the challenges and expectations as a Mixed Integer Linear Programming (MILP. Henceforth, by proving the NP-hardness of the problem, we propose three effective and distributed heuristics for RP-planning, identifying sojourn locations, and constructing routing trees. Finally, experimental results prove the effectiveness of our approach.

  2. A New Path-Constrained Rendezvous Planning Approach for Large-Scale Event-Driven Wireless Sensor Networks.

    Science.gov (United States)

    Vajdi, Ahmadreza; Zhang, Gongxuan; Zhou, Junlong; Wei, Tongquan; Wang, Yongli; Wang, Tianshu

    2018-05-04

    We study the problem of employing a mobile-sink into a large-scale Event-Driven Wireless Sensor Networks (EWSNs) for the purpose of data harvesting from sensor-nodes. Generally, this employment improves the main weakness of WSNs that is about energy-consumption in battery-driven sensor-nodes. The main motivation of our work is to address challenges which are related to a network’s topology by adopting a mobile-sink that moves in a predefined trajectory in the environment. Since, in this fashion, it is not possible to gather data from sensor-nodes individually, we adopt the approach of defining some of the sensor-nodes as Rendezvous Points (RPs) in the network. We argue that RP-planning in this case is a tradeoff between minimizing the number of RPs while decreasing the number of hops for a sensor-node that needs data transformation to the related RP which leads to minimizing average energy consumption in the network. We address the problem by formulating the challenges and expectations as a Mixed Integer Linear Programming (MILP). Henceforth, by proving the NP-hardness of the problem, we propose three effective and distributed heuristics for RP-planning, identifying sojourn locations, and constructing routing trees. Finally, experimental results prove the effectiveness of our approach.

  3. A New Path-Constrained Rendezvous Planning Approach for Large-Scale Event-Driven Wireless Sensor Networks

    Science.gov (United States)

    Zhang, Gongxuan; Wang, Yongli; Wang, Tianshu

    2018-01-01

    We study the problem of employing a mobile-sink into a large-scale Event-Driven Wireless Sensor Networks (EWSNs) for the purpose of data harvesting from sensor-nodes. Generally, this employment improves the main weakness of WSNs that is about energy-consumption in battery-driven sensor-nodes. The main motivation of our work is to address challenges which are related to a network’s topology by adopting a mobile-sink that moves in a predefined trajectory in the environment. Since, in this fashion, it is not possible to gather data from sensor-nodes individually, we adopt the approach of defining some of the sensor-nodes as Rendezvous Points (RPs) in the network. We argue that RP-planning in this case is a tradeoff between minimizing the number of RPs while decreasing the number of hops for a sensor-node that needs data transformation to the related RP which leads to minimizing average energy consumption in the network. We address the problem by formulating the challenges and expectations as a Mixed Integer Linear Programming (MILP). Henceforth, by proving the NP-hardness of the problem, we propose three effective and distributed heuristics for RP-planning, identifying sojourn locations, and constructing routing trees. Finally, experimental results prove the effectiveness of our approach. PMID:29734718

  4. The research of autonomous obstacle avoidance of mobile robot based on multi-sensor integration

    Science.gov (United States)

    Zhao, Ming; Han, Baoling

    2016-11-01

    The object of this study is the bionic quadruped mobile robot. The study has proposed a system design plan for mobile robot obstacle avoidance with the binocular stereo visual sensor and the self-control 3D Lidar integrated with modified ant colony optimization path planning to realize the reconstruction of the environmental map. Because the working condition of a mobile robot is complex, the result of the 3D reconstruction with a single binocular sensor is undesirable when feature points are few and the light condition is poor. Therefore, this system integrates the stereo vision sensor blumblebee2 and the Lidar sensor together to detect the cloud information of 3D points of environmental obstacles. This paper proposes the sensor information fusion technology to rebuild the environment map. Firstly, according to the Lidar data and visual data on obstacle detection respectively, and then consider two methods respectively to detect the distribution of obstacles. Finally fusing the data to get the more complete, more accurate distribution of obstacles in the scene. Then the thesis introduces ant colony algorithm. It has analyzed advantages and disadvantages of the ant colony optimization and its formation cause deeply, and then improved the system with the help of the ant colony optimization to increase the rate of convergence and precision of the algorithm in robot path planning. Such improvements and integrations overcome the shortcomings of the ant colony optimization like involving into the local optimal solution easily, slow search speed and poor search results. This experiment deals with images and programs the motor drive under the compiling environment of Matlab and Visual Studio and establishes the visual 2.5D grid map. Finally it plans a global path for the mobile robot according to the ant colony algorithm. The feasibility and effectiveness of the system are confirmed by ROS and simulation platform of Linux.

  5. Robotics: The next step?

    Science.gov (United States)

    Broeders, Ivo A M J

    2014-02-01

    Robotic systems were introduced 15 years ago to support complex endoscopic procedures. The technology is increasingly used in gastro-intestinal surgery. In this article, literature on experimental- and clinical research is reviewed and ergonomic issues are discussed. literature review was based on Medline search using a large variety of search terms, including e.g. robot(ic), randomized, rectal, oesophageal, ergonomics. Review articles on relevant topics are discussed with preference. There is abundant evidence of supremacy in performing complex endoscopic surgery tasks when using the robot in an experimental setting. There is little high-level evidence so far on translation of these merits to clinical practice. Robotic systems may appear helpful in complex gastro-intestinal surgery. Moreover, dedicated computer based technology integrated in telepresence systems opens the way to integration of planning, diagnostics and therapy. The first high tech add-ons such as near infrared technology are under clinical evaluation. Copyright © 2014 Elsevier Ltd. All rights reserved.

  6. Path-based Queries on Trajectory Data

    DEFF Research Database (Denmark)

    Krogh, Benjamin Bjerre; Pelekis, Nikos; Theodoridis, Yannis

    2014-01-01

    In traffic research, management, and planning a number of path-based analyses are heavily used, e.g., for computing turn-times, evaluating green waves, or studying traffic flow. These analyses require retrieving the trajectories that follow the full path being analyzed. Existing path queries cannot...... sufficiently support such path-based analyses because they retrieve all trajectories that touch any edge in the path. In this paper, we define and formalize the strict path query. This is a novel query type tailored to support path-based analysis, where trajectories must follow all edges in the path...... a specific path by only retrieving data from the first and last edge in the path. To correctly answer strict path queries existing network-constrained trajectory indexes must retrieve data from all edges in the path. An extensive performance study of NETTRA using a very large real-world trajectory data set...

  7. Dynamics and control of robot for capturing objects in space

    Science.gov (United States)

    Huang, Panfeng

    . After capturing the object, the space robot must complete the following two tasks: one is to berth the object, and the other is to re-orientate the attitude of the whole robot system for communication and power supply. Therefore, I propose a method to accomplish these two tasks simultaneously using manipulator motion only. The ultimate goal of space services is to realize the capture and manipulation autonomously. Therefore, I propose an affective approach based on learning human skill to track and capture the objects automatically in space. With human-teaching demonstration, the space robot is able to learn and abstract human tracking and capturing skill using an efficient neural-network learning architecture that combines flexible Cascade Neural Networks with Node Decoupled Extended Kalman Filtering (CNN-NDEKF). The simulation results attest that this approach is useful and feasible in tracking trajectory planning and capturing of space robot. Finally I propose a novel approach based on Genetic Algorithms (GAs) to optimize the approach trajectory of space robots in order to realize effective and stable operations. I complete the minimum-torque path planning in order to save the limited energy in space, and design the minimum jerk trajectory for the stabilization of the space manipulator and its space base. These optimal algorithms are very important and useful for the application of space robot.

  8. Supervised Autonomy for Exploration and Mobile Manipulation in Rough Terrain with a Centaur-like Robot

    Directory of Open Access Journals (Sweden)

    Max Schwarz

    2016-10-01

    Full Text Available Planetary exploration scenarios illustrate the need for autonomous robots that are capable to operate in unknown environments without direct human interaction. At the DARPA Robotics Challenge, we demonstrated that our Centaur-like mobile manipulation robot Momaro can solve complex tasks when teleoperated. Motivated by the DLR SpaceBot Cup 2015, where robots should explore a Mars-like environment, find and transport objects, take a soil sample, and perform assembly tasks, we developed autonomous capabilities for Momaro. Our robot perceives and maps previously unknown, uneven terrain using a 3D laser scanner. Based on the generated height map, we assess drivability, plan navigation paths, and execute them using the omnidirectional drive. Using its four legs, the robot adapts to the slope of the terrain. Momaro perceives objects with cameras, estimates their pose, and manipulates them with its two arms autonomously. For specifying missions, monitoring mission progress, on-the-fly reconfiguration, and teleoperation, we developed a ground station with suitable operator interfaces. To handle network communication interruptions and latencies between robot and ground station, we implemented a robust network layer for the ROS middleware. With the developed system, our team NimbRo Explorer solved all tasks of the DLR SpaceBot Camp 2015. We also discuss the lessons learned from this demonstration.

  9. Tool path planning of hole-making operations in ejector plate of injection mould using modified shuffled frog leaping algorithm

    Directory of Open Access Journals (Sweden)

    Amol M. Dalavi

    2016-07-01

    Full Text Available Optimization of hole-making operations in manufacturing industry plays a vital role. Tool travel and tool switch planning are the two major issues in hole-making operations. Many industrial applications such as moulds, dies, engine block, automotive parts etc. requires machining of large number of holes. Large number of machining operations like drilling, enlargement or tapping/reaming are required to achieve the final size of individual hole, which gives rise to number of possible sequences to complete hole-making operations on the part depending upon the location of hole and tool sequence to be followed. It is necessary to find the optimal sequence of operations which minimizes the total processing cost of hole-making operations. In this work, therefore an attempt is made to reduce the total processing cost of hole-making operations by applying relatively new optimization algorithms known as shuffled frog leaping algorithm and proposed modified shuffled frog leaping algorithm for the determination of optimal sequence of hole-making operations. An industrial application example of ejector plate of injection mould is considered in this work to demonstrate the proposed approach. The obtained results by the shuffled frog leaping algorithm and proposed modified shuffled frog leaping algorithm are compared with each other. It is seen from the obtained results that the results of proposed modified shuffled frog leaping algorithm are superior to those obtained using shuffled frog leaping algorithm.

  10. Evolutionary robotics

    Indian Academy of Sciences (India)

    In evolutionary robotics, a suitable robot control system is developed automatically through evolution due to the interactions between the robot and its environment. It is a complicated task, as the robot and the environment constitute a highly dynamical system. Several methods have been tried by various investigators to ...

  11. Robot Aesthetics

    DEFF Research Database (Denmark)

    Jochum, Elizabeth Ann; Putnam, Lance Jonathan

    This paper considers art-based research practice in robotics through a discussion of our course and relevant research projects in autonomous art. The undergraduate course integrates basic concepts of computer science, robotic art, live performance and aesthetic theory. Through practice...... in robotics research (such as aesthetics, culture and perception), we believe robot aesthetics is an important area for research in contemporary aesthetics....

  12. Filigree Robotics

    DEFF Research Database (Denmark)

    Tamke, Martin; Evers, Henrik Leander; Clausen Nørgaard, Esben

    2016-01-01

    Filigree Robotics experiments with the combination of traditional ceramic craft with robotic fabrication in order to generate a new narrative of fine three-dimensional ceramic ornament for architecture.......Filigree Robotics experiments with the combination of traditional ceramic craft with robotic fabrication in order to generate a new narrative of fine three-dimensional ceramic ornament for architecture....

  13. Environmental mobile robot based on artificial intelligence and visual perception for weed elimination

    Directory of Open Access Journals (Sweden)

    Nabeel Kadim Abid AL-SAHIB

    2012-12-01

    Full Text Available This research presents a new editing design for the pioneer p3-dx mobile robot by adding a mechanical gripper for eliminating the weed and a digital camera for capturing the image of the field. Also, a wireless kit that makes control on the motor's gripper is envisaged. This work consists of two parts. The theoretical part contains a program to read the image and discover the weed coordinates which will be sent to the path planning software to discover the locations of weed, green plant and sick plant. These positions are sent then to the mobile robot navigation software. Then the wireless signal is sent to the gripper. The experimental part is represented as a digital camera that takes an image of the agricultural field, and then sends it to the computer for processing. After that the weeds coordinates are sent to the mobile robots by mobile robot navigation software. Next, the wireless signal is sent to the wireless kit controlling the motor gripper by the computer interface program; the first trial on the agricultural field shows that the mobile robot can discriminate the green plant, from weed and sick plant and can take the right decision with respect to treatment or elimination. The experimental work shows that the environmental mobile robot can detect successfully the weed, sick plant and the hale plant. The mobile robot also travels from base to the target point represented by the weed and sick plants in the optimum path. The experimental work also shows that the environmental mobile robot can eliminate the weed and cure the sick plants in a correctly way.

  14. Intelligent control system for nuclear power plant mobile robot

    International Nuclear Information System (INIS)

    Koenig, A.; Lecoeur-Taibi, I.; Crochon, E.; Vacherand, F.

    1991-01-01

    In order to fully optimize the efficiency of the perception and navigation components available on a mobile robot, the upper level of a mobile robot control requires intelligence support to unload the work of the teleoperator. This knowledge-based system has to manage a priori data such as the map of the workspace, the mission, the characteristics of sensors and robot, but also, the current environment state and the running mission. It has to issue a plan to drive the sensors to focus on relevant objects or to scan the environment and to select the best algorithms depending on the current situation. The environment workspace is a nuclear power plant building. The teleoperated robot is a mobile wheeled or legged vehicle that moves inside the different floors of the building. There are three types of mission: radio-activity survey, inspection and intervention. To perform these goals the robot must avoid obstacles, pass through doors, possibly climb stairs and recognize valves and pipes. The perception control system has to provide the operator with a synthetic view of the surroundings. It manages background tasks such as obstacle detection and free space map building, and specific tasks such as beacon recognition for odometry relocalization and valve detection for maintenance. To do this, the system solves perception resources conflicts, taking into account the current states of the sensors and the current conditions such as lightness or darkness, cluttered scenes, sensor failure. A perception plan is issued from the mission goals, planned path, relocalization requirements and available perception resources. Basically, the knowledge-based system is implemented on a blackboard architecture which includes two parts: a top-down planning part and a bottom-up perception part. The results of the perception are continuously sent to the operator who can trigger new perception actions. (author)

  15. Optimal Paths in Gliding Flight

    Science.gov (United States)

    Wolek, Artur

    Underwater gliders are robust and long endurance ocean sampling platforms that are increasingly being deployed in coastal regions. This new environment is characterized by shallow waters and significant currents that can challenge the mobility of these efficient (but traditionally slow moving) vehicles. This dissertation aims to improve the performance of shallow water underwater gliders through path planning. The path planning problem is formulated for a dynamic particle (or "kinematic car") model. The objective is to identify the path which satisfies specified boundary conditions and minimizes a particular cost. Several cost functions are considered. The problem is addressed using optimal control theory. The length scales of interest for path planning are within a few turn radii. First, an approach is developed for planning minimum-time paths, for a fixed speed glider, that are sub-optimal but are guaranteed to be feasible in the presence of unknown time-varying currents. Next the minimum-time problem for a glider with speed controls, that may vary between the stall speed and the maximum speed, is solved. Last, optimal paths that minimize change in depth (equivalently, maximize range) are investigated. Recognizing that path planning alone cannot overcome all of the challenges associated with significant currents and shallow waters, the design of a novel underwater glider with improved capabilities is explored. A glider with a pneumatic buoyancy engine (allowing large, rapid buoyancy changes) and a cylindrical moving mass mechanism (generating large pitch and roll moments) is designed, manufactured, and tested to demonstrate potential improvements in speed and maneuverability.

  16. Robots in Space” Multiagent Problem: Complexity, Information and Cryptographic Aspects

    Directory of Open Access Journals (Sweden)

    A. Yu. Bernstein

    2013-01-01

    Full Text Available We study a multiagent algorithmic problem that we call Robot in Space (RinS: There are n ≥ 2 autonomous robots, that need to agree without outside interference on distribution of shelters, so that straight pathes to the shelters will not intersect. The problem is closely related to the assignment problem in Graph Theory, to the convex hull problem in Combinatorial Geometry, or to the path-planning problem in Artificial Intelligence. Our algorithm grew up from a local search solution of the problem suggested by E.W. Dijkstra. We present a multiagent anonymous and scalable algorithm (protocol solving the problem, give an upper bound for the algorithm, prove (manually its correctness, and examine two communication aspects of the RinS problem — the informational and cryptographic. We proved that (1 there is no protocol that solves the RinS, which transfers a bounded number of bits, and (2 suggested the protocol that allows robots to check whether their paths intersect, without revealing additional information about their relative positions (with respect to shelters. The present paper continues the research presented in Mars Robot Puzzle (a Multiagent Approach to the Dijkstra Problem (by E.V. Bodin, N.O. Garanina, and N.V. Shilov, published in Modeling and analysis of information systems, 18(2, 2011.

  17. Path Dependence

    DEFF Research Database (Denmark)

    Madsen, Mogens Ove

    Begrebet Path Dependence blev oprindelig udviklet inden for New Institutionel Economics af bl.a. David, Arthur og North. Begrebet har spredt sig vidt i samfundsvidenskaberne og undergået en udvikling. Dette paper propagerer for at der er sket så en så omfattende udvikling af begrebet, at man nu kan...... tale om 1. og 2. generation af Path Dependence begrebet. Den nyeste udvikling af begrebet har relevans for metodologi-diskusionerne i relation til Keynes...

  18. US Department of Energy Nuclear Energy University program in robotics for advanced reactors: Program plan, FY 1987-1991

    International Nuclear Information System (INIS)

    Mann, R.C.; Gonzalez, R.C.; Tulenko, J.S.; Tesar, D.; Wehe, D.K.

    1987-07-01

    The US Department of Energy has provided support to four universities and the Oak Ridge National Laboratory in order to pursue research leading to the development and deployment of an advanced robotic system capable of performing tasks that are hazardous to humans, that generate significant occupational radiation exposure, and/or whose execution times can be reduced if performed by an automated system. The goal is to develop a generation of advanced robotic systems capable of performing surveillance, maintenance, and repair tasks in nuclear facilities and other hazardous environments. This goal will be achieved through a team effort among the Universities of Florida, Michigan, Tennessee, Texas, and the Oak Ridge National Laboratory, and their industrial partners, Combustion Engineering, Martin Marietta Baltimore Aerospace, Odetics, Remotec, and Telerobotics International. Each of the universities and ORNL have ongoing activities and corresponding facilities in areas of R and D related to robotics. This program is designed to take full advantage of these existing resources at the participating institutions

  19. Robotics in rehabilitation: technology as destiny.

    Science.gov (United States)

    Stein, Joel

    2012-11-01

    Robotic aids for rehabilitation hold considerable promise but have not yet achieved widespread clinical adoption. Barriers to adoption include the limited data on efficacy, the single-purpose design of existing robots, financial considerations, and clinician lack of familiarity with this technology. Although the path forward to clinical adoption may be slow and have several false starts, the labor-saving aspect of robotic technology will ultimately ensure its adoption.

  20. Autonomous mobile robot for radiologic surveys

    International Nuclear Information System (INIS)

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

    1994-01-01

    An apparatus is described for conducting radiologic surveys. The apparatus comprises in the main a robot capable of following a preprogrammed path through an area, a radiation monitor adapted to receive input from a radiation detector assembly, ultrasonic transducers for navigation and collision avoidance, and an on-board computer system including an integrator for interfacing the radiation monitor and the robot. Front and rear bumpers are attached to the robot by bumper mounts. The robot may be equipped with memory boards for the collection and storage of radiation survey information. The on-board computer system is connected to a remote host computer via a UHF radio link. The apparatus is powered by a rechargeable 24-volt DC battery, and is stored at a docking station when not in use and/or for recharging. A remote host computer contains a stored database defining paths between points in the area where the robot is to operate, including but not limited to the locations of walls, doors, stationary furniture and equipment, and sonic markers if used. When a program consisting of a series of paths is downloaded to the on-board computer system, the robot conducts a floor survey autonomously at any preselected rate. When the radiation monitor detects contamination, the robot resurveys the area at reduced speed and resumes its preprogrammed path if the contamination is not confirmed. If the contamination is confirmed, the robot stops and sounds an alarm. 5 figures