WorldWideScience

Sample records for wireless mobile robot

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

    CERN Document Server

    Nattanmai Parasuraman, Ramviyas; Ferre, Manuel

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

  2. Tracking Mobile Robot in Indoor Wireless Sensor Networks

    Directory of Open Access Journals (Sweden)

    Liping Zhang

    2014-01-01

    Full Text Available This work addresses the problem of tracking mobile robots in indoor wireless sensor networks (WSNs. Our approach is based on a localization scheme with RSSI (received signal strength indication which is used widely in WSN. The developed tracking system is designed for continuous estimation of the robot’s trajectory. A WSN, which is composed of many very simple and cheap wireless sensor nodes, is deployed at a specific region of interest. The wireless sensor nodes collect RSSI information sent by mobile robots. A range-based data fusion scheme is used to estimate the robot’s trajectory. Moreover, a Kalman filter is designed to improve tracking accuracy. Experiments are provided to assess the performance of the proposed scheme.

  3. The Study on the Wireless Power Transfer System for Mobile Robots

    OpenAIRE

    Hyung-Nam Kim; Won-Yong Chae; Dong-Sul Shin; Ho-Sung Kim; Hee-Je Kim

    2010-01-01

    A wireless power transfer system can attribute to the fields in robot, aviation and space in which lightening the weight of device and improving the movement play an important role. A wireless power transfer system was investigated to overcome the inconvenience of using power cable. Especially a wireless power transfer technology is important element for mobile robots. We proposed the wireless power transfer system of the half-bridge resonant converter with the frequency ...

  4. Event-Based Control Strategy for Mobile Robots in Wireless Environments.

    Science.gov (United States)

    Socas, Rafael; Dormido, Sebastián; Dormido, Raquel; Fabregas, Ernesto

    2015-12-02

    In this paper, a new event-based control strategy for mobile robots is presented. It has been designed to work in wireless environments where a centralized controller has to interchange information with the robots over an RF (radio frequency) interface. The event-based architectures have been developed for differential wheeled robots, although they can be applied to other kinds of robots in a simple way. The solution has been checked over classical navigation algorithms, like wall following and obstacle avoidance, using scenarios with a unique or multiple robots. A comparison between the proposed architectures and the classical discrete-time strategy is also carried out. The experimental results shows that the proposed solution has a higher efficiency in communication resource usage than the classical discrete-time strategy with the same accuracy.

  5. Precise Localization of Mobile Robots via Odometry and Wireless Sensor Network

    Directory of Open Access Journals (Sweden)

    Guoyu Fu

    2013-04-01

    Full Text Available Precise localization of mobile robots in uncertain environments is a fundamental and crucial issue in robotics. In this paper, to deal with the unbounded accumulated errors of dead reckoning (DR-based localization, wireless sensor network (WSN-based localization is applied to calibrate the uncertainty of odometry using a Kalman filter (KF. In addition, to further aid in obtaining precise positions and reduce uncertainty, a novel backward dead reckoning (BDR localization approach is proposed. The experimental results demonstrate the success and reliability of the proposed method.

  6. Fuzzy mobile-robot positioning in intelligent spaces using wireless sensor networks.

    Science.gov (United States)

    Herrero, David; Martínez, Humberto

    2011-01-01

    This work presents the development and experimental evaluation of a method based on fuzzy logic to locate mobile robots in an Intelligent Space using wireless sensor networks (WSNs). The problem consists of locating a mobile node using only inter-node range measurements, which are estimated by radio frequency signal strength attenuation. The sensor model of these measurements is very noisy and unreliable. The proposed method makes use of fuzzy logic for modeling and dealing with such uncertain information. Besides, the proposed approach is compared with a probabilistic technique showing that the fuzzy approach is able to handle highly uncertain situations that are difficult to manage by well-known localization methods.

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

    International Nuclear Information System (INIS)

    Choi, S. Y.; Yoo, S. J.; Lee, Kun J.; Rim, C. T.

    2012-01-01

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

  8. Fuzzy Mobile-Robot Positioning in Intelligent Spaces Using Wireless Sensor Networks

    Directory of Open Access Journals (Sweden)

    David Herrero

    2011-11-01

    Full Text Available This work presents the development and experimental evaluation of a method based on fuzzy logic to locate mobile robots in an Intelligent Space using Wireless Sensor Networks (WSNs. The problem consists of locating a mobile node using only inter-node range measurements, which are estimated by radio frequency signal strength attenuation. The sensor model of these measurements is very noisy and unreliable. The proposed method makes use of fuzzy logic for modeling and dealing with such uncertain information. Besides, the proposed approach is compared with a probabilistic technique showing that the fuzzy approach is able to handle highly uncertain situations that are difficult to manage by well-known localization methods.

  9. Lab-on-a-robot: integrated microchip CE, power supply, electrochemical detector, wireless unit, and mobile platform.

    Science.gov (United States)

    Berg, Christopher; Valdez, David C; Bergeron, Phillip; Mora, Maria F; Garcia, Carlos D; Ayon, Arturo

    2008-12-01

    In this paper, the fabrication of a wireless mobile unit containing an electrochemical detection module and a 3-channel high-voltage power supply (HVPS) designed for microchip CE is described. The presented device consists of wireless global positioning system controlled robotics, an electrochemical detector utilizing signal conditioning analog circuitry and a digital feedback range controller, a HVPS, an air pump, and a CE microchip. A graphical user interface (LabVIEW) was also designed to communicate wirelessly with the device, from a distant personal computer communication port. The entire device is integrated and controlled by digital hardware implemented on a field programmable gate array development board. This lab-on-a-robot is able to navigate to a global position location, acquire an air sample, perform the analysis (injection, separation, and detection), and send the data (electropherogram) to a remote station without exposing the analyst to the testing environment.

  10. Wireless mobile Internet security

    CERN Document Server

    Rhee, Man Young

    2013-01-01

      The mobile industry for wireless cellular services has grown at a rapid pace over the past decade. Similarly, Internet service technology has also made dramatic growth through the World Wide Web with a wire line infrastructure. Realization for complete wired/wireless mobile Internet technologies will become the future objectives for convergence of these technologies thr

  11. Wireless security in mobile health.

    Science.gov (United States)

    Osunmuyiwa, Olufolabi; Ulusoy, Ali Hakan

    2012-12-01

    Mobile health (m-health) is an extremely broad term that embraces mobile communication in the health sector and data packaging. The four broad categories of wireless networks are wireless personal area network, wireless metropolitan area network, wireless wide area network, and wireless local area network. Wireless local area network is the most notable of the wireless networking tools obtainable in the health sector. Transfer of delicate and critical information on radio frequencies should be secure, and the right to use must be meticulous. This article covers the business opportunities in m-health, threats faced by wireless networks in hospitals, and methods of mitigating these threats.

  12. A Vision-Based Wireless Charging System for Robot Trophallaxis

    Directory of Open Access Journals (Sweden)

    Jae-O Kim

    2015-12-01

    Full Text Available The need to recharge the batteries of a mobile robot has presented an important challenge for a long time. In this paper, a vision-based wireless charging method for robot energy trophallaxis between two robots is presented. Even though wireless power transmission allows more positional error between receiver-transmitter coils than with a contact-type charging system, both coils have to be aligned as accurately as possible for efficient power transfer. To align the coils, a transmitter robot recognizes the coarse pose of a receiver robot via a camera image and the ambiguity of the estimated pose is removed with a Bayesian estimator. The precise pose of the receiver coil is calculated using a marker image attached to a receiver robot. Experiments with several types of receiver robots have been conducted to verify the proposed method.

  13. Wireless Power for Mobile Devices

    NARCIS (Netherlands)

    Waffenschmidt, E.

    2011-01-01

    Wireless power transfer allows a convenient, easy to use battery charging of mobile phones and other mobile devices. No hassle with cables and plugs, just place the device on a pad and that’s it. Such asystem even has the potential to become a standard charging solution. Where are the limits for

  14. The Mobile Robot "Little Helper"

    DEFF Research Database (Denmark)

    Hvilshøj, Mads; Bøgh, Simon; Madsen, Ole

    2009-01-01

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

  15. Mobility needs and wireless solutions

    DEFF Research Database (Denmark)

    Saugstrup, Dan; Henten, Anders

    The main purpose of this report is to spell out a methodological approach to the analysis of user needs with respect to mobility. Furthermore, this methodological approach is used in an exemplary analysis of the relationship between user needs and technology solutions offered by different wireless...... technologies. The report is based on a research approach, emphasizing important aspects in relation to developing more user oriented mobile services and applications in a heterogeneous network environment. As a staring point, Scandinavian research within the field of social science concerning mobility...... is described and discussed. Furthermore different wireless technologies are briefly described and discussed in relation to possible transmission capacities and coverage areas. In addition to this, a preliminary framework regarding the implications of mobility on the use and development of mobile services...

  16. Situation Assessment for Mobile Robots

    DEFF Research Database (Denmark)

    Beck, Anders Billesø

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

  17. Mobile robot prototype detector of gamma radiation

    International Nuclear Information System (INIS)

    Vazquez C, R.M.; Duran V, M. D.; Jardon M, C. I.

    2014-10-01

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

  18. HYBRID COMMUNICATION NETWORK OF MOBILE ROBOT AND QUAD-COPTER

    Directory of Open Access Journals (Sweden)

    Moustafa M. Kurdi

    2017-01-01

    Full Text Available This paper introduces the design and development of QMRS (Quadcopter Mobile Robotic System. QMRS is a real-time obstacle avoidance capability in Belarus-132N mobile robot with the cooperation of quadcopter Phantom-4. The function of QMRS consists of GPS used by Mobile Robot and image vision and image processing system from both robot and quad-copter and by using effective searching algorithm embedded inside the robot. Having the capacity to navigate accurately is one of the major abilities of a mobile robot to effectively execute a variety of jobs including manipulation, docking, and transportation. To achieve the desired navigation accuracy, mobile robots are typically equipped with on-board sensors to observe persistent features in the environment, to estimate their pose from these observations, and to adjust their motion accordingly. Quadcopter takes off from Mobile Robot, surveys the terrain and transmits the processed Image terrestrial robot. The main objective of research paper is to focus on the full coordination between robot and quadcopter by designing an efficient wireless communication using WIFI. In addition, it identify the method involving the use of vision and image processing system from both robot and quadcopter; analyzing path in real-time and avoiding obstacles based-on the computational algorithm embedded inside the robot. QMRS increases the efficiency and reliability of the whole system especially in robot navigation, image processing and obstacle avoidance due to the help and connection among the different parts of the system.

  19. Wireless and mobile systems in telemedicine

    Directory of Open Access Journals (Sweden)

    Reza Safdari

    2012-12-01

    Full Text Available Background: It is necessary to deploy mobile and wireless systems in healthcare, because they have many benefits for healthcare systems. The objectives of this article were introducing various systems, applications, and standards of the wireless and mobile telemedicine. Material and Methods: This review study was conducted in 2010. To conduct the study, published articles in the years 2005 to 2012, in English with an emphasis on wireless and mobile technologies in health were studied. Search was done with key words include telemedicine, wireless health systems, health and telecommunications technology in databases including Pubmed, Science Direct, Google Scholar, Web of Sciences, Proquest. The collected data were analyzed. Results: Telemedicine system in the ambulance, telemedicine systems in space, telecardiology systems, EEG system, ultrasound system are some types of wireless and mobile systems in telemedicine. PDA-based mobile and wireless telemedicine application, based PDA drug application, and patient tracking application are some of wireless and mobile applications of telemedicine. The most important standards of wireless and mobile telemedicine are HL7, DICOM, SNOMed, and ICD-9-CM. Conclusion: There are many challenges in the wireless and mobile systems in telemedicine, despite the many benefits. Slow speed in sending pictures and video, lack of attention to the privacy in the design of these systems, environmental variables and the number of users during the day are some of these challenges. It is recommended to consider these challenges during the planning and designing of wireless and mobile systems in telemedicine.

  20. International Conference on Mobile and Wireless Technology

    CERN Document Server

    Wattanapongsakorn, Naruemon; Joukov, Nikolai

    2016-01-01

    This book presents the peer-reviewed contributions of ICMWT2016, an international conference devoted to mobile and wireless technology. Researchers and professionals from academia and industry met to discuss the cutting-edge developments in the field. The book includes papers on mobile and wireless networks, the increasingly important security issues, data management, as well as the latest developments in mobile software development.

  1. Mobile robotics for CANDU maintenance

    International Nuclear Information System (INIS)

    Lipsett, M.G.; Rody, K.H.

    1996-01-01

    Although robotics researchers have been promising that robotics would soon be performing tasks in hazardous environments, the reality has yet to live up to the hype. The presently available crop of robots suitable for deployment in industrial situations are remotely operated, requiring skilled users. This talk describes cases where mobile robots have been used successfully in CANDU stations, discusses the difficulties in using mobile robots for reactor maintenance, and provides near-term goals for achievable improvements in performance and usefulness. (author) 5 refs., 2 ills

  2. Applying virtual reality to remote control of mobile robot

    Directory of Open Access Journals (Sweden)

    Chen Chin-Shan

    2017-01-01

    Full Text Available The purpose of this research is based on virtual reality to assisted pick and place tasks. Virtual reality can be utilized to control remote robot for pick and place element. The operator monitored and controlled the situation information of working site by Human Machine Interface. Therefore, we worked in harsh or dangerous environments that thing can be avoided. The procedure to operate mobile robot in virtual reality describes as follow: An experiment site with really experimental equipment is first established. Then, the experimental equipment and scene modeling are input to virtual reality for establishing a environment similar to the reality. Finally, the remote mobile robot is controlled to operate pick and place tasks through wireless communication by the object operation in virtual reality. The robot consists of a movable robot platform and robotic arm. The virtual reality is constructed by EON software; the Human Machine Interface is established by Visual Basic. The wireless connection is equipped the wireless Bluetooth, which is set the PC and PLC controller. With experimental tests to verify the robot in virtual reality and the wireless remote control, the robot could be operated and controlled to successfully complete pick and place tasks in reality by Human Machine Interface.

  3. Advanced wireless mobile collaborative sensing network for tactical and strategic missions

    Science.gov (United States)

    Xu, Hao

    2017-05-01

    In this paper, an advanced wireless mobile collaborative sensing network will be developed. Through properly combining wireless sensor network, emerging mobile robots and multi-antenna sensing/communication techniques, we could demonstrate superiority of developed sensing network. To be concrete, heterogeneous mobile robots including unmanned aerial vehicle (UAV) and unmanned ground vehicle (UGV) are equipped with multi-model sensors and wireless transceiver antennas. Through real-time collaborative formation control, multiple mobile robots can team the best formation that can provide most accurate sensing results. Also, formatting multiple mobile robots can also construct a multiple-input multiple-output (MIMO) communication system that can provide a reliable and high performance communication network.

  4. 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.

  5. Outdoor navigation of mobile robots

    OpenAIRE

    Mäkelä, Hannu

    2001-01-01

    AGVs in the manufacturing industry currently constitute the largest application area for mobile robots. Other applications have been gradually emerging, including various transporting tasks in demanding environments, such as mines or harbours. Most of the new potential applications require a free-ranging navigation system, which means that the path of a robot is no longer bound to follow a buried inductive cable. Moreover, changing the route of a robot or taking a new working area into use mu...

  6. Laser Energy Transmission for a Wireless Energy Supply to Robots

    OpenAIRE

    Kawashima, Nobuki; Takeda, Kazuya

    2008-01-01

    We can find a lot of robot applications in construction activities, where it is very difficult or dangerous for a man to access and only robots can work. The time will come soon when the actual use of those robots is extensively realized and the wireless energy transmission technology using laser is a unique means to supply energy to those robots.

  7. Mobile Robots for Hospital Logistics

    DEFF Research Database (Denmark)

    Özkil, Ali Gürcan

    services to maintain the quality of healthcare provided. Logistics is the most resource demanding service in a hospital. The scale of the transportation tasks is huge and the material flow in a hospital is comparable to that of a factory. We believe that these transportation tasks, to a great extent, can...... be and will be automated using mobile robots. This talk consequently addresses the key technical issues of implementing service robots in hospitals. In simple terms, a robotic system for automating hospital logistics has to be reliable, adaptable and scalable. Robots have to be semi-autonomous, and should reliably...... for localization. The system features automatic annotation, which significantly reduces manual work and offer many advantages beyond robotics. A case study on logistics solutions is finally presented. A robotic solution is tested in a hospital to handle the transportation of blood samples between the clinic...

  8. Learning for intelligent mobile robots

    Science.gov (United States)

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

    2003-10-01

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

  9. Adaptive Behavior for Mobile Robots

    Science.gov (United States)

    Huntsberger, Terrance

    2009-01-01

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

  10. ARIES: A mobile robot inspector

    International Nuclear Information System (INIS)

    Byrd, J.S.

    1995-01-01

    ARIES (Autonomous Robotic Inspection Experimental System) is a mobile robot inspection system being developed for the Department of Energy (DOE) to survey and inspect drums containing mixed and low-level radioactive waste stored in warehouses at DOE facilities. The drums are typically stacked four high and arranged in rows with three-foot aisle widths. The robot will navigate through the aisles and perform an autonomous inspection operation, typically performed by a human operator. It will make real-time decisions about the condition of the drums, maintain a database of pertinent information about each drum, and generate reports

  11. Mobile Robot Knowledge Base

    National Research Council Canada - National Science Library

    Pastore, Tracy H; Barnes, Mitchell; Hallman, Rory

    2005-01-01

    .... As a result, the task of managing both technology and experience information is growing. In the not to- distant past, tracking development efforts of robotic platforms, subsystems and components was not too difficult, expensive, or time consuming...

  12. Mobile Robot Navigation

    DEFF Research Database (Denmark)

    Andersen, Jens Christian

    2007-01-01

    validation of the implemented solutions and the ability of the methods to solve real world problems. The amount of software needed by an autonomous robot can be overwhelming. Software reuse and distributed development are therefore important issues. The thesis describes a new component architecture....... The research is now progressing towards autonomous robots which will be able to assist us in our daily life. One of the enabling technologies is navigation, and navigation is the subject of this thesis. Navigation of an autonomous robot is concerned with the ability of the robot to direct itself from....... The perception of these two sensors are utilised by a path planner to allow a number of drive modes, and especially the ability to follow road edges are investigated. The navigation mission is controlled by a script language. The navigation script controls route sequencing, junction detection, junction crossing...

  13. Study for wireless power transmission of nuclear robot system

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Jongseog [Central Research Institute of Korea Hydro and Nuclear Power Co., Daejeon (Korea, Republic of)

    2013-05-15

    Gasoline engine or electric motor is generally used for driving power of working. Gasoline tank is uncomfortable to carry. Battery capacity does not sustain long time working. Frequent moving back of robot to power charger or refueling tank is inconvenient. Long power cable connection occur winding problem if there are complex structures in walking way. We need some solution for continuous supply of robot energy at the free moving condition of robot. 'Wireless power transmission' is one of the solutions. Some experiment result to transmit wireless power to moving robot is described herein. To find possible wireless power transmission method for nuclear robot, wireless power transmission tests were performed. As result of these tests, it was confirmed that wireless power transmission by using dipole and mat type magnetic induction were possible. As result of flying robot experiment, it was realized that development of light weight core for receiver and wave reflection device for high directional transmitter are necessary for practical use of the dipole type wireless power transmission. Small size core and high directional transmitter will be next target. Mat type wireless power transmission is regarded as useful for robot power charging station in the inside containment.

  14. Study for wireless power transmission of nuclear robot system

    International Nuclear Information System (INIS)

    Kim, Jongseog

    2013-01-01

    Gasoline engine or electric motor is generally used for driving power of working. Gasoline tank is uncomfortable to carry. Battery capacity does not sustain long time working. Frequent moving back of robot to power charger or refueling tank is inconvenient. Long power cable connection occur winding problem if there are complex structures in walking way. We need some solution for continuous supply of robot energy at the free moving condition of robot. 'Wireless power transmission' is one of the solutions. Some experiment result to transmit wireless power to moving robot is described herein. To find possible wireless power transmission method for nuclear robot, wireless power transmission tests were performed. As result of these tests, it was confirmed that wireless power transmission by using dipole and mat type magnetic induction were possible. As result of flying robot experiment, it was realized that development of light weight core for receiver and wave reflection device for high directional transmitter are necessary for practical use of the dipole type wireless power transmission. Small size core and high directional transmitter will be next target. Mat type wireless power transmission is regarded as useful for robot power charging station in the inside containment

  15. Coordinated Control Of Mobile Robotic Manipulators

    Science.gov (United States)

    Seraji, Homayoun

    1995-01-01

    Computationally efficient scheme developed for on-line coordinated control of both manipulation and mobility of robots that include manipulator arms mounted on mobile bases. Applicable to variety of mobile robotic manipulators, including robots that move along tracks (typically, painting and welding robots), robots mounted on gantries and capable of moving in all three dimensions, wheeled robots, and compound robots (consisting of robots mounted on other robots). Theoretical basis discussed in several prior articles in NASA Tech Briefs, including "Increasing the Dexterity of Redundant Robots" (NPO-17801), "Redundant Robot Can Avoid Obstacles" (NPO-17852), "Configuration-Control Scheme Copes With Singularities" (NPO-18556), "More Uses for Configuration Control of Robots" (NPO-18607/NPO-18608).

  16. Fuzzy Logic Navigation and Obstacle Avoidance by a Mobile Robot in an Unknown Dynamic Environment

    Directory of Open Access Journals (Sweden)

    Mohammed Faisal

    2013-01-01

    Full Text Available Mobile robot navigation has remained an open problem over the last two decades. Mobile robots are required to navigate in unknown and dynamic environments, and in recent years the use of mobile robots in material handling has considerably increased. Usually workers push carts around warehouses and manually handle orders which is not very cost-effective. To this end, a potential method to control a swarm of mobile robots in a warehouse with static and dynamic obstacles is to use the wireless control approach. Further, to be able to control different types of mobile robots in the warehouse, the fuzzy logic control approach has been chosen. Therefore, in this paper, an on-line navigation technique for a wheeled mobile robot (WMR in an unknown dynamic environment using fuzzy logic techniques is investigated. In this paper, we aim to use the robot in application in a warehouse. Experimental results show the effectiveness of the proposed algorithm.

  17. Mobile robot for hazardous environments

    International Nuclear Information System (INIS)

    Bains, N.

    1995-01-01

    This paper describes the architecture and potential applications of the autonomous robot for a known environment (ARK). The ARK project has developed an autonomous mobile robot that can move around by itself in a complicated nuclear environment utilizing a number of sensors for navigation. The primary sensor system is computer vision. The ARK has the intelligence to determine its position utilizing open-quotes natural landmarks,close quotes such as ordinary building features at any point along its path. It is this feature that gives ARK its uniqueness to operate in an industrial type of environment. The prime motivation to develop ARK was the potential application of mobile robots in radioactive areas within nuclear generating stations and for nuclear waste sites. The project budget is $9 million over 4 yr and will be completed in October 1995

  18. Mobile Robots in Human Environments

    DEFF Research Database (Denmark)

    Svenstrup, Mikael

    intelligent mobile robotic devices capable of being a more natural and sociable actor in a human environment. More specific the emphasis is on safe and natural motion and navigation issues. First part of the work focus on developing a robotic system, which estimates human interest in interacting......, and finally human-aware navi- gation that respects the persons social zones and interest in interaction. From laser range scanner measurements, a new Kalman filter based method is used to infer the person’s state information. Secondly, the robot adaptively learns to estimate if a person seeks to interact...... in accordance with the current interest in interaction and such that the person’s social spaces are respected. The opera- tion of the system is evaluated in an open hall setting at the university. It is demonstrated, that the robot is able to learn where to position itself, and is capable of adapting...

  19. Autonomous Mobile Robots.

    Science.gov (United States)

    1986-01-30

    robot is free to search the diverse world looking tionalJoint Conference on ArtificialIntelligence . IJCAI, August for just the combination that will foil...which avolds smoothing across edges It Is r Blob detection. At this point the road Is a region of the algorithm EGPR Jn the Spider subroutine library

  20. 2nd International Conference on Mobile and Wireless Technology

    CERN Document Server

    Wattanapongsakorn, Naruemon

    2015-01-01

    This book provides a snapshot of the current state-of-the-art in the fields of mobile and wireless technology, security and applications.  The proceedings of the 2nd International Conference on Mobile and Wireless Technology (ICMWT2015), it represents the outcome of a unique platform for researchers and practitioners from academia and industry to share cutting-edge developments in the field of mobile and wireless science technology, including those working on data management and mobile security.   The contributions presented here describe the latest academic and industrial research from the international mobile and wireless community.  The scope covers four major topical areas: mobile and wireless networks and applications; security in mobile and wireless technology; mobile data management and applications; and mobile software.  The book will be a valuable reference for current researchers in academia and industry, and a useful resource for graduate-level students working on mobile and wireless technology...

  1. Control of Mobile Robot Using Web Interface

    Directory of Open Access Journals (Sweden)

    Emília BUBENÍKOVÁ

    2016-12-01

    Full Text Available This contribution deals with the control wheel mobile wireless system. It describes the theoretical knowledge from the mentioned field and also the practical implementation of the whole system. This realization consists of creating the appropriate hardware and software. Contribution shows the possibilities of wireless control equipment using wireless communications and a large number of Internet options.

  2. Analysis and Testing of Mobile Wireless Networks

    Science.gov (United States)

    Alena, Richard; Evenson, Darin; Rundquist, Victor; Clancy, Daniel (Technical Monitor)

    2002-01-01

    Wireless networks are being used to connect mobile computing elements in more applications as the technology matures. There are now many products (such as 802.11 and 802.11b) which ran in the ISM frequency band and comply with wireless network standards. They are being used increasingly to link mobile Intranet into Wired networks. Standard methods of analyzing and testing their performance and compatibility are needed to determine the limits of the technology. This paper presents analytical and experimental methods of determining network throughput, range and coverage, and interference sources. Both radio frequency (BE) domain and network domain analysis have been applied to determine wireless network throughput and range in the outdoor environment- Comparison of field test data taken under optimal conditions, with performance predicted from RF analysis, yielded quantitative results applicable to future designs. Layering multiple wireless network- sooners can increase performance. Wireless network components can be set to different radio frequency-hopping sequences or spreading functions, allowing more than one sooner to coexist. Therefore, we ran multiple 802.11-compliant systems concurrently in the same geographical area to determine interference effects and scalability, The results can be used to design of more robust networks which have multiple layers of wireless data communication paths and provide increased throughput overall.

  3. Mobile Surveillance and Monitoring Robots

    Energy Technology Data Exchange (ETDEWEB)

    Kimberly, Howard R.; Shipers, Larry R.

    1999-07-14

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

  4. Mobile Surveillance and Monitoring Robots

    International Nuclear Information System (INIS)

    Kimberly, Howard R.; Shipers, Larry R.

    1999-01-01

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

  5. Infrared Beacons based Localization of Mobile Robot

    Czech Academy of Sciences Publication Activity Database

    Krejsa, Jiří; Věchet, Stanislav

    2012-01-01

    Roč. 117, č. 1 (2012), s. 17-22 ISSN 1392-1215 Institutional research plan: CEZ:AV0Z20760514 Keywords : mobile robot localization * extended Kalman filter * autonomous mobile robot Subject RIV: JD - Computer Applications, Robot ics Impact factor: 0.411, year: 2012 http://www.eejournal.ktu.lt/index.php/elt/article/view/1046

  6. A Tree Based Self-routing Scheme for Mobility Support in Wireless Sensor Networks

    Science.gov (United States)

    Kim, Young-Duk; Yang, Yeon-Mo; Kang, Won-Seok; Kim, Jin-Wook; An, Jinung

    Recently, WSNs (Wireless Sensor Networks) with mobile robot is a growing technology that offer efficient communication services for anytime and anywhere applications. However, the tiny sensor node has very limited network resources due to its low battery power, low data rate, node mobility, and channel interference constraint between neighbors. Thus, in this paper, we proposed a tree based self-routing protocol for autonomous mobile robots based on beacon mode and implemented in real test-bed environments. The proposed scheme offers beacon based real-time scheduling for reliable association process between parent and child nodes. In addition, it supports smooth handover procedure by reducing flooding overhead of control packets. Throughout the performance evaluation by using a real test-bed system and simulation, we illustrate that our proposed scheme demonstrates promising performance for wireless sensor networks with mobile robots.

  7. Dynamic Wireless Power Transfer for Logistic Robots

    Directory of Open Access Journals (Sweden)

    Marojahan Tampubolon

    2018-02-01

    Full Text Available The prospect of using robots in warehouses or supply chain processes is increasing due to the growth of the online retail market. This logistic robot is available in the market and uses a battery as energy storage device. However, this battery is large and heavy. Therefore, it needs a long recharging time. Dynamic Wireless Power Transfer (DWPT can be an alternative to the conventional charging system because of its safety and flexibility that enables in motion charging. DWPT reduces the battery requirement size and capacity. Hence the stored energy can be used effectively for load transportation. A compensation with an inductor and two capacitors in the transmitter side, and a series connected capacitor in the receiver side which is named LCC-S compensation type has the capability to maintain the transmitter current with a fixed frequency operation. It provides less variation of the output voltage in response to the load variation. Moreover, the compensation of the receiver side uses only a single series capacitor which is low-cost. The analysis, modeling, and design procedures are discussed in this paper as well as the hardware implementation and verification of a 1.5 kW maximum power DWPT. The experiment shows the capability of the proposed system and shows maximum efficiency can reach 91.02%.

  8. Magnetic resonant wireless power transfer for propulsion of implantable micro-robot

    Science.gov (United States)

    Kim, D.; Kim, M.; Yoo, J.; Park, H.-H.; Ahn, S.

    2015-05-01

    Recently, various types of mobile micro-robots have been proposed for medical and industrial applications. Especially in medical applications, a motor system for propulsion cannot easily be used in a micro-robot due to their small size. Therefore, micro-robots are usually actuated by controlling the magnitude and direction of an external magnetic field. However, for micro-robots, these methods in general are only applicable for moving and drilling operations, but not for the undertaking of various missions. In this paper, we propose a new micro-robot concept, which uses wireless power transfer to deliver the propulsion force and electric power simultaneously. The mechanism of Lorentz force generation and the coil design methodologies are explained, and validation of the proposed propulsion system for a micro-robot is discussed thorough a simulation and with actual measurements with up-scaled test vehicles.

  9. Certainty grids for mobile robots

    Science.gov (United States)

    Moravec, H. P.

    1987-01-01

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

  10. Improved timing recovery in wireless mobile receivers

    CSIR Research Space (South Africa)

    Olwal, TO

    2007-06-01

    Full Text Available is critical. This is partly because timing recovery functions must follow rapid parameter changes inherent in mobile systems and partly because both bandwidth and power must be conserved in low signal to noise ratio communication channels. The ultimate goal... in low signal to noise ratios. In order to develop a bandwidth and power efficient timing recovery method for wireless mobile receivers, a raised cosine filter and a multilevel phase shift keying modulation scheme are implemented and no clock signals...

  11. Wireless IP and building the mobile Internet

    National Research Council Canada - National Science Library

    Dixit, Sudhir; Prasad, Ramjee

    2003-01-01

    ..., as well as the shortage of technical material in a single place in the field of wireless IP and closely related technologies that form the critical success factors. Therefore, we decided to invite the experts who are truly active in the field: the equipment manufacturers, mobile operators, and those working in research laboratories and unive...

  12. Ad hoc mobile wireless networks principles, protocols, and applications

    CERN Document Server

    Sarkar, Subir Kumar

    2013-01-01

    The military, the research community, emergency services, and industrial environments all rely on ad hoc mobile wireless networks because of their simple infrastructure and minimal central administration. Now in its second edition, Ad Hoc Mobile Wireless Networks: Principles, Protocols, and Applications explains the concepts, mechanism, design, and performance of these highly valued systems. Following an overview of wireless network fundamentals, the book explores MAC layer, routing, multicast, and transport layer protocols for ad hoc mobile wireless networks. Next, it examines quality of serv

  13. Mobile robotics research at Sandia National Laboratories

    Energy Technology Data Exchange (ETDEWEB)

    Morse, W.D.

    1998-09-01

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

  14. A Motion Planning System for Mobile Robots

    Directory of Open Access Journals (Sweden)

    TUNCER, A.

    2012-02-01

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

  15. Mobility management techniques for the next-generation wireless networks

    Science.gov (United States)

    Sun, Junzhao; Howie, Douglas P.; Sauvola, Jaakko J.

    2001-10-01

    The tremendous demands from social market are pushing the booming development of mobile communications faster than ever before, leading to plenty of new advanced techniques emerging. With the converging of mobile and wireless communications with Internet services, the boundary between mobile personal telecommunications and wireless computer networks is disappearing. Wireless networks of the next generation need the support of all the advances on new architectures, standards, and protocols. Mobility management is an important issue in the area of mobile communications, which can be best solved at the network layer. One of the key features of the next generation wireless networks is all-IP infrastructure. This paper discusses the mobility management schemes for the next generation mobile networks through extending IP's functions with mobility support. A global hierarchical framework model for the mobility management of wireless networks is presented, in which the mobility management is divided into two complementary tasks: macro mobility and micro mobility. As the macro mobility solution, a basic principle of Mobile IP is introduced, together with the optimal schemes and the advances in IPv6. The disadvantages of the Mobile IP on solving the micro mobility problem are analyzed, on the basis of which three main proposals are discussed as the micro mobility solutions for mobile communications, including Hierarchical Mobile IP (HMIP), Cellular IP, and Handoff-Aware Wireless Access Internet Infrastructure (HAWAII). A unified model is also described in which the different micro mobility solutions can coexist simultaneously in mobile networks.

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2014-10-15

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

  17. Probabilistic Mobility Models for Mobile and Wireless Networks

    DEFF Research Database (Denmark)

    Song, Lei; Godskesen, Jens Christian

    2010-01-01

    from a location it will evolve to a network distribution depending on whether nodes at other locations receive the message or not. Mobility of locations is not arbitrary but guarded by a probabilistic mobility function (PMF) and we also define the notion of a weak bisimulation given a PMF......In this paper we present a probabilistic broadcast calculus for mobile and wireless networks whose connections are unreliable. In our calculus broadcasted messages can be lost with a certain probability, and due to mobility the connection probabilities may change. If a network broadcasts a message...

  18. Ad hoc mobile wireless networks principles, protocols and applications

    CERN Document Server

    Sarkar, Subir Kumar; Puttamadappa, C

    2007-01-01

    Ad hoc mobile wireless networks have seen increased adaptation in a variety of disciplines because they can be deployed with simple infrastructures and virtually no central administration. In particular, the development of ad hoc wireless and sensor networks provides tremendous opportunities in areas including disaster recovery, defense, health care, and industrial environments. Ad Hoc Mobile Wireless Networks: Principles, Protocols and Applications explains the concepts, mechanisms, design, and performance of these systems. It presents in-depth explanations of the latest wireless technologies

  19. Real Time Localization for Mobile Robot

    Czech Academy of Sciences Publication Activity Database

    Věchet, S.; Krejsa, Jiří

    2005-01-01

    Roč. 12, A 1 (2005), s. 3-10 ISSN 1210-2717. [Mechatronics, Robot ics and Biomechanics 2005. Třešť, 26.09.2005-29.09.2005] Institutional research plan: CEZ:AV0Z20760514 Keywords : localization * mobile robot Subject RIV: JD - Computer Applications, Robot ics

  20. Face feature processor on mobile service robot

    Science.gov (United States)

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

    2005-12-01

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

  1. 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.

  2. Modelling and Control of a Mobile Robot

    DEFF Research Database (Denmark)

    Christensen, Georg Kronborg

    1998-01-01

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

  3. Mobility- Aware Cache Management in Wireless Environment

    Science.gov (United States)

    Kaur, Gagandeep; Saini, J. S.

    2010-11-01

    In infrastructure wireless environments, a base station provides communication links between mobile client and remote servers. Placing a proxy cache at the base station is an effective way of managing the wireless Internet bandwidth efficiently. However, in the situation of non-uniform heavy traffic, requests of all the mobile clients in the service area of the base station may cause overload in the cache. If the proxy cache has to release some cache space for the new mobile client in the environment, overload occurs. In this paper, we propose a novel cache management strategy to decrease the penalty of overloaded traffic on the proxy and to reduce the number of remote accesses by increasing the cache hit ratio. We predict the number of overload ahead of time based on its history and adapt the cache for the heavy traffic to be able to provide continuous and fair service to the current mobile clients and incoming ones. We have tested the algorithms over a real implementation of the cache management system in presence of fault tolerance and security. In our cache replacement algorithm, mobility of the clients, predicted overload number, size of the cached packets and their access frequencies are considered altogether. Performance results show that our cache management strategy outperforms the existing policies with less number of overloads and higher cache hit ratio.

  4. Gathering asychronous mobile robots with inaccurate compasses

    OpenAIRE

    Souissi, Samia; Defago, Xavier; Yamashita, Masafumi

    2006-01-01

    This paper considers a system of asynchronous autonomous mobile robots that can move freely in a twodimensional plane with no agreement on a common coordinate system. Starting from any initial configuration, the robots are required to eventually gather at a single point, not fixed in advance (gathering problem). Prior work has shown that gathering oblivious (i.e., stateless) robots cannot be achieved deterministically without additional assumptions. In particular, if robots can detect multipl...

  5. Wireless Emergency Alerts Commercial Mobile Service Provider (CMSP) Cybersecurity Guidelines

    Science.gov (United States)

    2016-06-16

    Wireless Emergency Alerts Commercial Mobile Service Provider (CMSP) Cybersecurity Guidelines Christopher Alberts Audrey Dorofee Carol Woody...Technology Direc- torate. The WEA capability provides a valuable service , disseminating emergency alerts to users of capable mobile devices if they are... mobile service providers (CMSPs)—commercial wireless carriers that broadcast WEA messages to a designated geographic area 4. Alert recipients—the

  6. Effect of mobility models on infrastructure based wireless networks ...

    African Journals Online (AJOL)

    The tremendous demand is pushing the development of wireless mobile communications faster than ever before. Handoff management has widely been recognized as one of the most important and challenging problems for a seamless access to wireless network and mobile services. Mobility Models plays an important ...

  7. Robots Social Embodiment in Autonomous Mobile Robotics

    Directory of Open Access Journals (Sweden)

    Brian Duffy

    2008-11-01

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

  8. Robotics_MobileRobot Navigation, Phase I

    Data.gov (United States)

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

  9. Wireless Control LEGO NXT robot using voice commands

    OpenAIRE

    David Be; Cinhtia González; Manuel Escalante; Michel García; Carlos Miranda; Sergio Gonzalez

    2011-01-01

    This paper presents a wireless interface to control a LEGO NXT robot using voice commands through a computer. To perform speech recognition is used CSLU TOOLKIT with a corpus of Mexican Spanish voice, recognized commands are sent via Bluetooth from computer to robot, programming and motion routines to control the motors are done using Java and LeJOS NXJ. The interface consists of two main modules interconnected through the implementation of sockets: the voice recognition module and the wirele...

  10. 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.

  11. FEATURES OF THE MOBILE ROBOTS CONTROL SYSTEMS

    Directory of Open Access Journals (Sweden)

    S. Ihnatiev

    2017-11-01

    Full Text Available The article is devoted to mobile robots. Mobile robots are devices that can move autonomously to accomplishtheir goals. As the title implies the article describes traffic guidance systems for the mobile robots. A generalized scheme of themobile robots control systems is shown. It compiles on the basis of the hierarchical principle. Attention is paid to each level of scheme. In addition, the classification of traffic guidance systems for the mobile robots is being compiled. It gives a detailedanalysis of each block of the scheme. The traffic guidance systems are considered in accordance to the degree of humanparticipation. Much attention is given to the automatic system. The necessity of involvement artificial intelligence in furtherdevelopment has been pointed out.

  12. Path Planning and Trajectory Control of Collaborative Mobile Robots Using Hybrid Control Architecture

    Directory of Open Access Journals (Sweden)

    Trevor Davies

    2008-08-01

    Full Text Available This paper presents the development and implementation a hybrid control architecture to direct a collective of three X80 mobile robots to multiple user-defined waypoints. The Genetic Algorithm Path Planner created an optimized, reduction in the time to complete the task, path plan for each robot in the collective such that each waypoint was visited once without colliding with a priori obstacles. The deliberative Genetic Algorithm Path Planner was then coupled with a reactive Potential Field Trajectory Planner and kinematic based controller to create a hybrid control architecture allowing the mobile robot to navigate between multiple user-defined waypoints, while avoiding a priori obstacles and obstacles detected using the robots' range sensors. The success of this hybrid control architecture was proven through simulation and experimentation using three of Dr. Robot's ™ wireless X80 mobile robots.

  13. OPTIMAL TOUR CONSTRUCTIONS FOR MULTIPLE MOBILE ROBOTS

    Directory of Open Access Journals (Sweden)

    AMIR A. SHAFIE

    2011-04-01

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

  14. Laboratory experiments in mobile robot navigation

    International Nuclear Information System (INIS)

    Kar, Asim; Pal, Prabir K.

    1997-01-01

    Mobile robots have potential applications in remote surveillance and operation in hazardous areas. To be effective, they must have the ability to navigate on their own to desired locations. Several experimental navigational runs of a mobile robot developed have been conducted. The robot has three wheels of which the front wheel is steered and the hind wheels are driven. The robot is equipped with an ultrasonic range sensor, which is turned around to get range data in all directions. The range data is fed to the input of a neural net, whose output steers the robot towards the goal. The robot is powered by batteries (12V 10Ah). It has an onboard stepper motor controller for driving the wheels and the ultrasonic setup. It also has an onboard computer which runs the navigation program NAV. This program sends the range data and configuration parameters to the operator''s console program OCP, running on a stationary PC, through radio communication on a serial line. Through OCP, an operator can monitor the progress of the robot from a distant control room and intervene if necessary. In this paper the control modules of the mobile robot, its ways of operation and also results of some of the experimental runs recorded are reported. It is seen that the trained net guides the mobile robot through gaps of 1m and above to its destination with about 84% success measured over a small sample of 38 runs

  15. Simultaneous scheduling of machines and mobile robots

    DEFF Research Database (Denmark)

    Dang, Vinh Quang; Nielsen, Izabela Ewa

    2013-01-01

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

  16. Improved mobile robot navigation using soft computing techniques

    OpenAIRE

    Soh, Chin Yun

    2017-01-01

    Robotics is the science and technology of robots, their design, manufacture, and applications. The limitation and constrain of the existing mobile robot navigation techniques are overcome by proposing new mobile robot navigation techniques. Thus, the main focuses of this research are to investigate, propose, design and utilize the improved mobile robot navigation techniques. These techniques are applicable to mobile robots with built-in low cost ultrasonic sensors in a highly unstructured,...

  17. RoCoMAR: robots' controllable mobility aided routing and relay architecture for mobile sensor networks.

    Science.gov (United States)

    Le, Duc Van; Oh, Hoon; Yoon, Seokhoon

    2013-07-05

    In a practical deployment, mobile sensor network (MSN) suffers from a low performance due to high node mobility, time-varying wireless channel properties, and obstacles between communicating nodes. In order to tackle the problem of low network performance and provide a desired end-to-end data transfer quality, in this paper we propose a novel ad hoc routing and relaying architecture, namely RoCoMAR (Robots' Controllable Mobility Aided Routing) that uses robotic nodes' controllable mobility. RoCoMAR repeatedly performs link reinforcement process with the objective of maximizing the network throughput, in which the link with the lowest quality on the path is identified and replaced with high quality links by placing a robotic node as a relay at an optimal position. The robotic node resigns as a relay if the objective is achieved or no more gain can be obtained with a new relay. Once placed as a relay, the robotic node performs adaptive link maintenance by adjusting its position according to the movements of regular nodes. The simulation results show that RoCoMAR outperforms existing ad hoc routing protocols for MSN in terms of network throughput and end-to-end delay.

  18. Modular Platform for Commercial Mobile Robots

    DEFF Research Database (Denmark)

    Kjærgaard, Morten

    , and not on putting the robots on the commercial market. At the time when this research project was started in May 2010, the amount of successful commercial applications based on mobile robots was very limited. The most known applications were vacuum cleaners, lawn mowers, and few examples of specialized transport......Despite a rapid development in computers and sensor technologies, surprisingly few autonomous robot systems have successfully made it to the consumer market and into people's homes. Robotics is a popular topic in research circles, but focus is often on ground-breaking technologies...... by the individual groups and perhaps a few close industrial partners. This research project addresses the problem of increasing the potential for more commercial applications based on mobile wheeled robots. Therefore the main focus is not on inventing new ground-breaking robotics technology, but instead...

  19. Design of Kalman filters for mobile robots

    DEFF Research Database (Denmark)

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

    1999-01-01

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

  20. Computer vision for an autonomous mobile robot

    CSIR Research Space (South Africa)

    Withey, Daniel J

    2015-10-01

    Full Text Available Computer vision systems are essential for practical, autonomous, mobile robots – machines that employ artificial intelligence and control their own motion within an environment. As with biological systems, computer vision systems include the vision...

  1. Exploiting node mobility for energy optimization in wireless sensor networks

    Science.gov (United States)

    El-Moukaddem, Fatme Mohammad

    Wireless Sensor Networks (WSNs) have become increasingly available for data-intensive applications such as micro-climate monitoring, precision agriculture, and audio/video surveillance. A key challenge faced by data-intensive WSNs is to transmit the sheer amount of data generated within an application's lifetime to the base station despite the fact that sensor nodes have limited power supplies such as batteries or small solar panels. The availability of numerous low-cost robotic units (e.g. Robomote and Khepera) has made it possible to construct sensor networks consisting of mobile sensor nodes. It has been shown that the controlled mobility offered by mobile sensors can be exploited to improve the energy efficiency of a network. In this thesis, we propose schemes that use mobile sensor nodes to reduce the energy consumption of data-intensive WSNs. Our approaches differ from previous work in two main aspects. First, our approaches do not require complex motion planning of mobile nodes, and hence can be implemented on a number of low-cost mobile sensor platforms. Second, we integrate the energy consumption due to both mobility and wireless communications into a holistic optimization framework. We consider three problems arising from the limited energy in the sensor nodes. In the first problem, the network consists of mostly static nodes and contains only a few mobile nodes. In the second and third problems, we assume essentially that all nodes in the WSN are mobile. We first study a new problem called max-data mobile relay configuration (MMRC ) that finds the positions of a set of mobile sensors, referred to as relays, that maximize the total amount of data gathered by the network during its lifetime. We show that the MMRC problem is surprisingly complex even for a trivial network topology due to the joint consideration of the energy consumption of both wireless communication and mechanical locomotion. We present optimal MMRC algorithms and practical distributed

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

    Directory of Open Access Journals (Sweden)

    Qi Wang

    2011-02-01

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

  3. RoboSmith: Wireless Networked Architecture for Multiagent Robotic System

    Directory of Open Access Journals (Sweden)

    Florin Moldoveanu

    2010-11-01

    Full Text Available In this paper is presented an architecture for a flexible mini robot for a multiagent robotic system. In a multiagent system the value of an individual agent is negligible since the goal of the system is essential. Thus, the agents (robots need to be small, low cost and cooperative. RoboSmith are designed based on these conditions. The proposed architecture divide a robot into functional modules such as locomotion, control, sensors, communication, and actuation. Any mobile robot can be constructed by combining these functional modules for a specific application. An embedded software with dynamic task uploading and multi-tasking abilities is developed in order to create better interface between robots and the command center and among the robots. The dynamic task uploading allows the robots change their behaviors in runtime. The flexibility of the robots is given by facts that the robots can work in multiagent system, as master-slave, or hybrid mode, can be equipped with different modules and possibly be used in other applications such as mobile sensor networks remote sensing, and plant monitoring.

  4. Robotic vehicle with multiple tracked mobility platforms

    Science.gov (United States)

    Salton, Jonathan R [Albuquerque, NM; Buttz, James H [Albuquerque, NM; Garretson, Justin [Albuquerque, NM; Hayward, David R [Wetmore, CO; Hobart, Clinton G [Albuquerque, NM; Deuel, Jr., Jamieson K.

    2012-07-24

    A robotic vehicle having two or more tracked mobility platforms that are mechanically linked together with a two-dimensional coupling, thereby forming a composite vehicle of increased mobility. The robotic vehicle is operative in hazardous environments and can be capable of semi-submersible operation. The robotic vehicle is capable of remote controlled operation via radio frequency and/or fiber optic communication link to a remote operator control unit. The tracks have a plurality of track-edge scallop cut-outs that allow the tracks to easily grab onto and roll across railroad tracks, especially when crossing the railroad tracks at an oblique angle.

  5. Distributed computing by oblivious mobile robots

    CERN Document Server

    Flocchini, Paola; Santoro, Nicola

    2012-01-01

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

  6. Independent Mobility Achieved through a Wireless Brain-Machine Interface.

    Directory of Open Access Journals (Sweden)

    Camilo Libedinsky

    Full Text Available Individuals with tetraplegia lack independent mobility, making them highly dependent on others to move from one place to another. Here, we describe how two macaques were able to use a wireless integrated system to control a robotic platform, over which they were sitting, to achieve independent mobility using the neuronal activity in their motor cortices. The activity of populations of single neurons was recorded using multiple electrode arrays implanted in the arm region of primary motor cortex, and decoded to achieve brain control of the platform. We found that free-running brain control of the platform (which was not equipped with any machine intelligence was fast and accurate, resembling the performance achieved using joystick control. The decoding algorithms can be trained in the absence of joystick movements, as would be required for use by tetraplegic individuals, demonstrating that the non-human primate model is a good pre-clinical model for developing such a cortically-controlled movement prosthetic. Interestingly, we found that the response properties of some neurons differed greatly depending on the mode of control (joystick or brain control, suggesting different roles for these neurons in encoding movement intention and movement execution. These results demonstrate that independent mobility can be achieved without first training on prescribed motor movements, opening the door for the implementation of this technology in persons with tetraplegia.

  7. Independent Mobility Achieved through a Wireless Brain-Machine Interface.

    Science.gov (United States)

    Libedinsky, Camilo; So, Rosa; Xu, Zhiming; Kyar, Toe K; Ho, Duncun; Lim, Clement; Chan, Louiza; Chua, Yuanwei; Yao, Lei; Cheong, Jia Hao; Lee, Jung Hyup; Vishal, Kulkarni Vinayak; Guo, Yongxin; Chen, Zhi Ning; Lim, Lay K; Li, Peng; Liu, Lei; Zou, Xiaodan; Ang, Kai K; Gao, Yuan; Ng, Wai Hoe; Han, Boon Siew; Chng, Keefe; Guan, Cuntai; Je, Minkyu; Yen, Shih-Cheng

    2016-01-01

    Individuals with tetraplegia lack independent mobility, making them highly dependent on others to move from one place to another. Here, we describe how two macaques were able to use a wireless integrated system to control a robotic platform, over which they were sitting, to achieve independent mobility using the neuronal activity in their motor cortices. The activity of populations of single neurons was recorded using multiple electrode arrays implanted in the arm region of primary motor cortex, and decoded to achieve brain control of the platform. We found that free-running brain control of the platform (which was not equipped with any machine intelligence) was fast and accurate, resembling the performance achieved using joystick control. The decoding algorithms can be trained in the absence of joystick movements, as would be required for use by tetraplegic individuals, demonstrating that the non-human primate model is a good pre-clinical model for developing such a cortically-controlled movement prosthetic. Interestingly, we found that the response properties of some neurons differed greatly depending on the mode of control (joystick or brain control), suggesting different roles for these neurons in encoding movement intention and movement execution. These results demonstrate that independent mobility can be achieved without first training on prescribed motor movements, opening the door for the implementation of this technology in persons with tetraplegia.

  8. Hand Gesture Based Wireless Robotic Arm Control for Agricultural Applications

    Science.gov (United States)

    Kannan Megalingam, Rajesh; Bandhyopadhyay, Shiva; Vamsy Vivek, Gedela; Juned Rahi, Muhammad

    2017-08-01

    One of the major challenges in agriculture is harvesting. It is very hard and sometimes even unsafe for workers to go to each plant and pluck fruits. Robotic systems are increasingly combined with new technologies to automate or semi automate labour intensive work, such as e.g. grape harvesting. In this work we propose a semi-automatic method for aid in harvesting fruits and hence increase productivity per man hour. A robotic arm fixed to a rover roams in the in orchard and the user can control it remotely using the hand glove fixed with various sensors. These sensors can position the robotic arm remotely to harvest the fruits. In this paper we discuss the design of hand glove fixed with various sensors, design of 4 DoF robotic arm and the wireless control interface. In addition the setup of the system and the testing and evaluation under lab conditions are also presented in this paper.

  9. Decentralized Control of Unmanned Aerial Robots for Wireless Airborne Communication Networks

    Directory of Open Access Journals (Sweden)

    Deok-Jin Lee

    2010-09-01

    Full Text Available This paper presents a cooperative control strategy for a team of aerial robotic vehicles to establish wireless airborne communication networks between distributed heterogeneous vehicles. Each aerial robot serves as a flying mobile sensor performing a reconfigurable communication relay node which enabls communication networks with static or slow-moving nodes on gorund or ocean. For distributed optimal deployment of the aerial vehicles for communication networks, an adaptive hill-climbing type decentralized control algorithm is developed to seek out local extremum for optimal localization of the vehicles. The sensor networks estabilished by the decentralized cooperative control approach can adopt its configuraiton in response to signal strength as the function of the relative distance between the autonomous aerial robots and distributed sensor nodes in the sensed environment. Simulation studies are conducted to evaluate the effectiveness of the proposed decentralized cooperative control technique for robust communication networks.

  10. Application of GPS systems on a mobile robot

    Science.gov (United States)

    Cao, Peter; Saxena, Mayank; Tedder, Maurice; Mischalske, Steve; Hall, Ernest L.

    2001-10-01

    The purpose of this paper is to describe the use of Global Positioning Systems (GPS) as geographic information and navigational system for a ground based mobile robot. Several low cost wireless systems are now available for a variety of innovative automobile applications including location, messaging and tracking and security. Experiments were conducted with a test bed mobile robot, Bearcat II, for point-to-point motion using a Motorola GPS in June 2001. The Motorola M12 Oncore GPS system is connected to the Bearcat II main control computer through a RS232 interface. A mapping program is used to define a desired route. Then GPS information may be displayed for verification. However, the GPS information is also used to update the control points of the mobile robot using a reinforcement learning method. Local position updates are also used when found in the environment. The significance of the method is in extending the use of GPS to local vehicle control that requires more resolution that is available from the raw data using the adaptive control method.

  11. Advanced mobility handover for mobile IPv6 based wireless networks.

    Science.gov (United States)

    Safa Sadiq, Ali; Fisal, Norsheila Binti; Ghafoor, Kayhan Zrar; Lloret, Jaime

    2014-01-01

    We propose an Advanced Mobility Handover scheme (AMH) in this paper for seamless mobility in MIPv6-based wireless networks. In the proposed scheme, the mobile node utilizes a unique home IPv6 address developed to maintain communication with other corresponding nodes without a care-of-address during the roaming process. The IPv6 address for each MN during the first round of AMH process is uniquely identified by HA using the developed MN-ID field as a global permanent, which is identifying uniquely the IPv6 address of MN. Moreover, a temporary MN-ID is generated by access point each time an MN is associated with a particular AP and temporarily saved in a developed table inside the AP. When employing the AMH scheme, the handover process in the network layer is performed prior to its default time. That is, the mobility handover process in the network layer is tackled by a trigger developed AMH message to the next access point. Thus, a mobile node keeps communicating with the current access point while the network layer handover is executed by the next access point. The mathematical analyses and simulation results show that the proposed scheme performs better as compared with the existing approaches.

  12. Autonomous Mobile Robot That Can Read

    Directory of Open Access Journals (Sweden)

    Létourneau Dominic

    2004-01-01

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

  13. Smart mobile robot system for rubbish collection

    Science.gov (United States)

    Ali, Mohammed A. H.; Sien Siang, Tan

    2018-03-01

    This paper records the research and procedures of developing a smart mobility robot with detection system to collect rubbish. The objective of this paper is to design a mobile robot that can detect and recognize medium-size rubbish such as drinking cans. Besides that, the objective is also to design a mobile robot with the ability to estimate the position of rubbish from the robot. In addition, the mobile robot is also able to approach the rubbish based on position of rubbish. This paper explained about the types of image processing, detection and recognition methods and image filters. This project implements RGB subtraction method as the prior system. Other than that, algorithm for distance measurement based on image plane is implemented in this project. This project is limited to use computer webcam as the sensor. Secondly, the robot is only able to approach the nearest rubbish in the same views of camera vision and any rubbish that contain RGB colour components on its body.

  14. Network Coding Opportunities for Wireless Grids Formed by Mobile Devices

    DEFF Research Database (Denmark)

    Nielsen, Karsten Fyhn; Madsen, Tatiana Kozlova; Fitzek, Frank

    2008-01-01

    Wireless grids have potential in sharing communication, computational and storage resources making these networks more powerful, more robust, and less cost intensive. However, to enjoy the benefits of cooperative resource sharing, a number of issues should be addressed and the cost of the wireles...... implementation demonstrates the feasibility of network coding for wireless grids formed by mobile devices....

  15. Intelligent Mobile Olfaction of Swarm Robots

    Directory of Open Access Journals (Sweden)

    Siti Nurmaini

    2013-06-01

    Full Text Available This work presents intelligent mobile olfaction design and experimental results of intelligent swarm robots to detection a gas/odour source in an indoor environment by using multi agent based on hybrid algorithm. We examine the problem for deciding when, how and where the gas/odour sensor should be activated. Simple form of cooperation between Interval Type-2 Fuzzy Logic and Particle Swarm Optimization (IT2FL-PSO algorithm is implemented in the olfaction strategies. The real experiments performed on smaller five mobile robots equipped with dynamic gas/odour sensor TGS2600 and three infra-red sensors. The results show that single robot-based olfaction system with 5 behaviors capable for searching source of a simulated chemical leak in unknown environment and flooking behavior can be done by 3 robots to find the source of gas/odour.

  16. WIRELESS ADVERTISING: A STUDY OF MOBILE PHONE USERS

    OpenAIRE

    Gurau Calin

    2011-01-01

    Topic: Using a qualitative methodology, this study attempts to provide a general framework of the functions of mobile communication, and to identify the specific preferences of mobile phone users regarding the commercial messages received on their personal devices. Research objectives: (1) To identify the specific characteristics of mobile communication as perceived by mobile users; (2) to define and analyze the functions of wireless communication as perceived by mobile phone users; and (3) t...

  17. Energy efficiency of mobile soft robots.

    Science.gov (United States)

    Shui, Langquan; Zhu, Liangliang; Yang, Zhe; Liu, Yilun; Chen, Xi

    2017-11-15

    The performance of mobile soft robots is usually characterized by their locomotion/velocity efficiency, whereas the energy efficiency is a more intrinsic and fundamental criterion for the performance evaluation of independent or integrated soft robots. In this work, a general framework is established to evaluate the energy efficiency of mobile soft robots by considering the efficiency of the energy source, actuator and locomotion, and some insights for improving the efficiency of soft robotic systems are presented. Proposed as the ratio of the desired locomotion kinetic energy to the input mechanical energy, the energy efficiency of locomotion is found to play a critical role in determining the overall energy efficiency of soft robots. Four key factors related to the locomotion energy efficiency are identified, that is, the locomotion modes, material properties, geometric sizes, and actuation states. It is found that the energy efficiency of most mobile soft robots reported in the literature is surprisingly low (mostly below 0.1%), due to the inefficient mechanical energy that essentially does not contribute to the desired locomotion. A comparison of the locomotion energy efficiency for several representative locomotion modes in the literature is presented, showing a descending ranking as: jumping ≫ fish-like swimming > snake-like slithering > rolling > rising/turning over > inchworm-like inching > quadruped gait > earthworm-like squirming. Besides, considering the same locomotion mode, soft robots with lower stiffness, higher density and larger size tend to have higher locomotion energy efficiency. Moreover, a periodic pulse actuation instead of a continuous actuation mode may significantly reduce the input mechanical energy, thus improving the locomotion energy efficiency, especially when the pulse actuation matches the resonant states of the soft robots. The results presented herein indicate a large and necessary space for improving the locomotion energy

  18. Line and Circle Formation of Distributed Physical Mobile Robots

    OpenAIRE

    Yun, Xiaoping; Alptekin, Gokhan; Albayrak, Okay

    1997-01-01

    The formation problem of distributed mobile robots was studied in the literature for idealized robots. Idealized robots are able to instantaneously move in any directions, and are equipped with perfect range sensors. In this study, we address the formation problem of distributed mobile robots that are subject to physical constraints. Mobile robots considered in this study have physical dimensions and their motions are governed by physical laws. They are equipped with sonar and ...

  19. Benchmark Framework for Mobile Robots Navigation Algorithms

    Directory of Open Access Journals (Sweden)

    Nelson David Muñoz-Ceballos

    2014-01-01

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

  20. Brain Computer Interfaces for Enhanced Interaction with Mobile Robot Agents

    Science.gov (United States)

    2016-07-27

    omnidirectional base, and a Baxter dual- arm robotic manipulator . Brain-Computer Interfaces are promising technologies that can improve Human- Robot Interac... robotic arm through an automated grasping task using EEG BCI. On the left side is the robotic manipulator and three containers in the grasping scene... robot platforms used are the Willow Garage PR2 personal robot [21], a humanoid like robot with a mobile omnidirectional base, and a Baxter dual- arm

  1. Implementation of mobile ip smooth handoff in wireless networks

    International Nuclear Information System (INIS)

    Kayastha, M.; Chowdhry, B.S.; Memon, A.R.

    2002-01-01

    This paper describes implementation of mobile IP services in two separate wireless LANs based on IEEE 802.11b standards, located in two distant buildings of a university campus. The purpose of the project was to achieve smooth hand-off when a mobile node moves between the two LANs. During our experimentation we have identified some of the limitation of IEEE 802.11b that affects mobile 1P smooth hand off. We have also proposed an algorithm to solve this problem when the mobility is within a limited number of separate wireless LANs. (author)

  2. Autonomous mobile robot localization using Kalman filter

    Directory of Open Access Journals (Sweden)

    Mohd Nasir Nabil Zhafri

    2017-01-01

    Full Text Available Autonomous mobile robot field has gain interest among researchers in recent years. The ability of a mobile robot to locate its current position and surrounding environment is the fundamental in order for it to operate autonomously, which commonly known as localization. Localization of mobile robot are commonly affected by the inaccuracy of the sensors. These inaccuracies are caused by various factors which includes internal interferences of the sensor and external environment noises. In order to overcome these noises, a filtering method is required in order to improve the mobile robot’s localization. In this research, a 2- wheeled-drive (2WD mobile robot will be used as platform. The odometers, inertial measurement unit (IMU, and ultrasonic sensors are used for data collection. Data collected is processed using Kalman filter to predict and correct the error from these sensors reading. The differential drive model and measurement model which estimates the environmental noises and predict a correction are used in this research. Based on the simulation and experimental results, the x, y and heading was corrected by converging the error to10 mm, 10 mm and 0.06 rad respectively.

  3. RANCANG BANGUN PROTOTYPE SISTEM KENDALI LENGAN ROBOT PEMINDAH BARANG MENGGUNAKAN INTERFACE WIRELESS 2.4Ghz

    Directory of Open Access Journals (Sweden)

    Agung Gde Ekayana

    2017-03-01

    Full Text Available Perkembangan teknologi yang semakin maju, terutama dalam bidang sistem kendali, Sistem kendali lengan robot merupakan robot yang bisa menggantikan peran manusia seperti melakukan perkerjaan berat. Lengan robot yang dirancang dalam bentuk prototipe dengan sistem kerjanya yang dapat dikendalikan menggunakan wireless joystick, sehingga robot dapat memindahkan objek dan dikendalikan dari jarak jauh. Perancangan sistem kendali ini menggunakan beberapa komponen yaitu Mikrokontroler ATmega 8 Motor Servo, Driver Motor, Weireless Joystik PS2, dan Baterai. Hasil yang diperoleh dari penelitian ini adalah rancangan bangun sistem kendali lengan robot pemindah barang mengunakan interface wireless 2.4Ghz. Hasilnya robot dapat dikendalikan dan merespon perintah yang diberikan melalui joystik

  4. Herbert: A Second Generation Mobile Robot.

    Science.gov (United States)

    1988-01-01

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

  5. Sensor Fusion for Autonomous Mobile Robot Navigation

    DEFF Research Database (Denmark)

    Plascencia, Alfredo

    Multi-sensor data fusion is a broad area of constant research which is applied to a wide variety of fields such as the field of mobile robots. Mobile robots are complex systems where the design and implementation of sensor fusion is a complex task. But research applications are explored constantly.......  The main objective of a multi-sensor system is to improve the capabilities of a single sensor when translating different sensory inputs into the construction of a map that can be used for navigation. In this context, it is important to find novel solutions based on the state of the art of this field....... The scope of the thesis is limited to building a map for a laboratory robot by fusing range readings from a sonar array with landmarks extracted from stereo vision images using the (Scale Invariant Feature Transform) SIFT algorithm....

  6. Neural Networks in Mobile Robot Motion

    Directory of Open Access Journals (Sweden)

    Danica Janglova

    2008-11-01

    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.

  7. 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.

  8. Mobile robotics application in the nuclear industry

    Energy Technology Data Exchange (ETDEWEB)

    Jones, S.L.; White, J.R. [REMOTEC, Inc., Oak Ridge, TN (United States)

    1995-03-01

    Mobile robots have been developed to perform hazardous operations in place of human workers. Applications include nuclear plant inspection/maintenance, decontamination and decommissioning police/military explosive ordinance disposal (EOD), hostage/terrorist negotiations and fire fighting. Nuclear facilities have proven that robotic applications can be cost-effective solutions to reducing personnel exposure and plant downtime. The first applications of mobile robots in the nuclear industry began in the early 1980`s, with the first vehicles being one of a kind machines or adaptations of commercial EOD robots. These activities included efforts by numerous commercial companies, the U.S. Nuclear Regulatory Commission, EPRI, and several national laboratories. Some of these efforts were driven by the recovery and cleanup activities at TMI which demonstrated the potential and need for a remote means of performing surveillance and maintenance tasks in nuclear plants. The use of these machines is now becoming commonplace in nuclear facilities throughout the world. The hardware maturity and the confidence of the users has progressed to the point where the applications of mobile robots is not longer considered a novelty. These machines are being used in applications where the result is to help achieve more aggressive goals for personnel radiation exposure and plant availability, perform tasks more efficiently, and allow plant operators to retrieve information from areas previously considered inaccessible. Typical examples include surveillance in high radiation areas (during operation and outage activities), radiation surveys, waste handling, and decontamination evolutions. This paper will discuss this evolution including specific applications experiences, examples of currently available technology, and the benefits derived from the use of mobile robotic vehicles in commercial nuclear power facilities.

  9. Mobile robotics application in the nuclear industry

    International Nuclear Information System (INIS)

    Jones, S.L.; White, J.R.

    1995-01-01

    Mobile robots have been developed to perform hazardous operations in place of human workers. Applications include nuclear plant inspection/maintenance, decontamination and decommissioning police/military explosive ordinance disposal (EOD), hostage/terrorist negotiations and fire fighting. Nuclear facilities have proven that robotic applications can be cost-effective solutions to reducing personnel exposure and plant downtime. The first applications of mobile robots in the nuclear industry began in the early 1980's, with the first vehicles being one of a kind machines or adaptations of commercial EOD robots. These activities included efforts by numerous commercial companies, the U.S. Nuclear Regulatory Commission, EPRI, and several national laboratories. Some of these efforts were driven by the recovery and cleanup activities at TMI which demonstrated the potential and need for a remote means of performing surveillance and maintenance tasks in nuclear plants. The use of these machines is now becoming commonplace in nuclear facilities throughout the world. The hardware maturity and the confidence of the users has progressed to the point where the applications of mobile robots is not longer considered a novelty. These machines are being used in applications where the result is to help achieve more aggressive goals for personnel radiation exposure and plant availability, perform tasks more efficiently, and allow plant operators to retrieve information from areas previously considered inaccessible. Typical examples include surveillance in high radiation areas (during operation and outage activities), radiation surveys, waste handling, and decontamination evolutions. This paper will discuss this evolution including specific applications experiences, examples of currently available technology, and the benefits derived from the use of mobile robotic vehicles in commercial nuclear power facilities

  10. OFDM Towards Fixed and Mobile Broadband Wireless Access

    DEFF Research Database (Denmark)

    Shanker Jha, Uma; Prasad, Ramjee

    of mobile broadband wireless access and the standards developed by the IEEE 802.16 standards organization. The book gives practitioners a solid understaning of: Basic requirements of fixed and mobile broadband access technologies. Fundamentals of orthogonal frequency division multiplexing (OFDM...

  11. Improved timing recovery in wireless mobile receivers | Olwal ...

    African Journals Online (AJOL)

    The problem of timing recovery in wireless mobile receiver systems is critical. This is partly because timing recovery functions must follow rapid parameter changes inherent in mobile systems and partly because both bandwidth and power must be conserved in low signal to noise ratio communication channels. The ultimate ...

  12. Fundamental Properties of Wireless Mobile Ad-hoc Networks

    NARCIS (Netherlands)

    Hekmat, R.

    2005-01-01

    Wireless mobile ad-hoc networks are formed by mobile devices that set up a possibly short-lived network for communication needs of the moment. Ad-hoc networks are decentralized, self-organizing networks capable of forming a communication network without relying on any fixed infrastructure. Each node

  13. [A wireless mobile monitoring system based on bluetooth technology].

    Science.gov (United States)

    Sun, Shou-jun; Wu, Kai; Wu, Xiao-Ming

    2006-09-01

    This paper presents a wireless mobile monitoring system based on Bluetooth technology. This system realizes the remote mobile monitoring of multiple physiological parameters, and has the characters of easy use, low cost, good reliability and strong capability of anti-jamming.

  14. Off the Shelf Cloud Robotics for the Smart Home: Empowering a Wireless Robot through Cloud Computing

    Directory of Open Access Journals (Sweden)

    Javier Ramírez De La Pinta

    2017-03-01

    Full Text Available In this paper, we explore the possibilities offered by the integration of home automation systems and service robots. In particular, we examine how advanced computationally expensive services can be provided by using a cloud computing approach to overcome the limitations of the hardware available at the user’s home. To this end, we integrate two wireless low-cost, off-the-shelf systems in this work, namely, the service robot Rovio and the home automation system Z-wave. Cloud computing is used to enhance the capabilities of these systems so that advanced sensing and interaction services based on image processing and voice recognition can be offered.

  15. Off the Shelf Cloud Robotics for the Smart Home: Empowering a Wireless Robot through Cloud Computing.

    Science.gov (United States)

    Ramírez De La Pinta, Javier; Maestre Torreblanca, José María; Jurado, Isabel; Reyes De Cozar, Sergio

    2017-03-06

    In this paper, we explore the possibilities offered by the integration of home automation systems and service robots. In particular, we examine how advanced computationally expensive services can be provided by using a cloud computing approach to overcome the limitations of the hardware available at the user's home. To this end, we integrate two wireless low-cost, off-the-shelf systems in this work, namely, the service robot Rovio and the home automation system Z-wave. Cloud computing is used to enhance the capabilities of these systems so that advanced sensing and interaction services based on image processing and voice recognition can be offered.

  16. Off the Shelf Cloud Robotics for the Smart Home: Empowering a Wireless Robot through Cloud Computing

    Science.gov (United States)

    Ramírez De La Pinta, Javier; Maestre Torreblanca, José María; Jurado, Isabel; Reyes De Cozar, Sergio

    2017-01-01

    In this paper, we explore the possibilities offered by the integration of home automation systems and service robots. In particular, we examine how advanced computationally expensive services can be provided by using a cloud computing approach to overcome the limitations of the hardware available at the user’s home. To this end, we integrate two wireless low-cost, off-the-shelf systems in this work, namely, the service robot Rovio and the home automation system Z-wave. Cloud computing is used to enhance the capabilities of these systems so that advanced sensing and interaction services based on image processing and voice recognition can be offered. PMID:28272305

  17. Laser actuated shape memory alloy mobile micro-robot: initial results

    Science.gov (United States)

    van den Broek, Peter-Jan; Potsaid, Benjamin; Bellouard, Yves; Wen, John T.

    2007-10-01

    Mobile micro-robots are needed for micro positioning, manipulation or manufacturing small components, or sensing in chemical and biological environments. The design of mobile micro-robots poses challenges in terms of fabrication, actuation and sensing. Current approaches require complex assembly or sophisticated MEMS processes, to obtain actuators with a high energy density. Furthermore, the energy source for locomotion has either to be carried onboard (which by itself poses additional miniaturization challenges) or be remotely located so that the energy is transferred through tethered cables or wirelessly. In this paper, we propose a radically different approach: the micro-robot consists of a single piece of shape memory alloy (SMA) suitably shaped to perform inchworm-like locomotion, and remotely actuated by a laser beam. We report the modeling and design of an SMA inchworm like micro-robot, and the first experimental results.

  18. Mobile Robot Collision Avoidance in Human Environments

    Directory of Open Access Journals (Sweden)

    Lingqi Zeng

    2013-01-01

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

  19. Mobile robot Kasia with early vision based on CNN

    Science.gov (United States)

    Bedkowski, Janusz; Jankowski, Stanislaw

    2006-03-01

    In this paper the construction of low-cost mobile robot set up of LEGO bricks is presented. The robot vision software is based on cellular neural network image processing. The robot is able to find out a target - shining light - in the dedicated environment starting from any initial position. The most severe limitation of the robot functionality is its speed.

  20. Vision and Task Assistance using Modular Wireless In Vivo Surgical Robots

    Science.gov (United States)

    Platt, Stephen R.; Hawks, Jeff A.; Rentschler, Mark E.

    2009-01-01

    Minimally invasive abdominal surgery (laparoscopy) results in superior patient outcomes compared to conventional open surgery. However, the difficulty of manipulating traditional laparoscopic tools from outside the body of the patient generally limits these benefits to patients undergoing relatively low complexity procedures. The use of tools that fit entirely inside the peritoneal cavity represents a novel approach to laparoscopic surgery. Our previous work demonstrated that miniature mobile and fixed-based in vivo robots using tethers for power and data transmission can successfully operate within the abdominal cavity. This paper describes the development of a modular wireless mobile platform for in vivo sensing and manipulation applications. Design details and results of ex vivo and in vivo tests of robots with biopsy grasper, staple/clamp, video, and physiological sensor payloads are presented. These types of self-contained surgical devices are significantly more transportable and lower in cost than current robotic surgical assistants. They could ultimately be carried and deployed by non-medical personnel at the site of an injury to allow a remotely located surgeon to provide critical first response medical intervention irrespective of the location of the patient. PMID:19237337

  1. Vision and task assistance using modular wireless in vivo surgical robots.

    Science.gov (United States)

    Platt, Stephen R; Hawks, Jeff A; Rentschler, Mark E

    2009-06-01

    Minimally invasive abdominal surgery (laparoscopy) results in superior patient outcomes compared to conventional open surgery. However, the difficulty of manipulating traditional laparoscopic tools from outside the body of the patient generally limits these benefits to patients undergoing relatively low complexity procedures. The use of tools that fit entirely inside the peritoneal cavity represents a novel approach to laparoscopic surgery. Our previous work demonstrated that miniature mobile and fixed-based in vivo robots using tethers for power and data transmission can successfully operate within the abdominal cavity. This paper describes the development of a modular wireless mobile platform for in vivo sensing and manipulation applications. Design details and results of ex vivo and in vivo tests of robots with biopsy grasper, staple/clamp, video, and physiological sensor payloads are presented. These types of self-contained surgical devices are significantly more transportable and lower in cost than current robotic surgical assistants. They could ultimately be carried and deployed by nonmedical personnel at the site of an injury to allow a remotely located surgeon to provide critical first response medical intervention irrespective of the location of the patient.

  2. Pervasive Mobile and Ambient Wireless Communications COST Action 2100

    CERN Document Server

    Zanella, Alberto

    2012-01-01

    Pervasive Mobile and Ambient Wireless Communications reports the findings of COST 2100, a project of the European intergovernmental COST framework addressing various topics currently emerging in mobile and wireless communications. Drawing on experience developed in this and earlier COST projects, the text represents the final outcome of collaborative work involving more than 500 researchers in 140 institutions and 30 countries (including outside Europe). The book’s subject matter includes: • transmission techniques; • signal processing; • radio channel modelling and measurement; • radio network issues; and • recent paradigms including ultra-wideband, cooperative, vehicle-to-vehicle and body communications. The research reported comes from a variety of backgrounds: academic, equipment-manufacturing and operational. The information contained in this book will bring the study reported to a wider audience from all those spheres of work. Pervasive Mobile and Ambient Wireless Communications will be of i...

  3. Purwarupa Sistem Integrasi Quadcopter dan Mobile Robot

    OpenAIRE

    Dharmawan, Andi; Lusiarta Putera, Christian Antonia

    2012-01-01

    AbstrakQuadcopter, juga dikenal sebagai quadrotor, adalah helikopter dengan empat motor yang dilengkapi dengan  empat buah propeller pada masing-masing motornya yang digunakan untuk terbang dan bermanuver. Pada quadcopter terdapat 3 variabel sudut yang menjadi element utama dalam pengendaliannya yaitu roll, pitch, dan yaw yang diperoleh dari penggabungan sensor accelerometer, gyroscope dan magnetometer dengan metode Direction Cosine Matrix. Pada sistem integrasi mobile robot dan quadcopter, d...

  4. 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”.

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

    Science.gov (United States)

    2012-01-01

    module has two independently-driven wheels that produce arbitrary planar translational velocity, enabling the robot to achieve its omnidirectional mo... wheels [9] and Mecanumm wheels [10] Fig. 2 ASOC-driven omnidirectional mobile robot (left) and ASOC module (right) Design, Development, and...Mobility test of an Omnidirectional Mobile Robot 7 The kinematic control explained here calculates all wheel angular

  6. Mobile Robots Gathering Algorithm with Local Weak Multiplicity in Rings

    OpenAIRE

    Tomoko, Izumi; Taisuke, Izumi; Sayaka, Kamei; Fukuhito, Ooshita

    2010-01-01

    The gathering problem of anonymous and oblivious mobile robots isone of fundamental problems in the theoretical mobile robotics. We consider thegathering problem in unoriented and anonymous rings, which requires that allrobots gather at a non-predefined node. Since the gathering problem cannot besolved without any additional capability to robots, all the previous works assumesome capability of robots, such as accessing the memory on node. In this paper,we focus on the multiplicity capability....

  7. Flexible Wi-Fi Communication among Mobile Robots in Indoor Industrial Environments

    Directory of Open Access Journals (Sweden)

    Jetmir Haxhibeqiri

    2018-01-01

    Full Text Available In order to speed up industrial processes and to improve logistics, mobile robots are getting important in industry. In this paper, we propose a flexible and configurable architecture for the mobile node that is able to operate in different network topology scenarios. The proposed solution is able to operate in presence of network infrastructure, in ad hoc mode only, or to use both possibilities. In case of mixed architecture, mesh capabilities will enable coverage problem detection and overcoming. The solution is based on real requirements from an automated guided vehicle producer. First, we evaluate the overhead introduced by our solution. Since the mobile robot communication relies in broadcast traffic, the broadcast scalability in mesh network is evaluated too. Finally, through experiments on a wireless testbed for a variety of scenarios, we analyze the impact of roaming, mobility and traffic separation, and demonstrate the advantage of our approach in handling coverage problems.

  8. A self-positioning system for a mobile robot

    Energy Technology Data Exchange (ETDEWEB)

    Takagi, Akira; Mori, Shunji [Fuji Electric Corp. Research and Development Ltd., Yokosuka, Kanagawa (Japan); Takaya, Junichi [Fuji Electric Co. Ltd., Tokyo (Japan)

    2001-03-01

    This paper presents a mobile robot system for inspection of the floor condition. The positioning system can identify the location and the orientation of the robot with one circular mark that is hung on the ceiling. The location and the orientation of the robot can be identified by one image taken by a CCD camera that is installed on the top of the robot. When an error between the current position and the desired one is found, the robot can eliminate the error quickly with omnidirectional wheel mechanisms. Caster shape wheels are used for the omnidirectional mobile base of the robot. (author)

  9. Design and Implementation of Modular Software for Programming Mobile Robots

    Directory of Open Access Journals (Sweden)

    Alessandro Farinelli

    2006-03-01

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

  10. Plane Formation by Synchronous Mobile Robots without Chirality

    OpenAIRE

    Tomita, Yusaku; Yamauchi, Yukiko; Kijima, Shuji; Yamashita, Masafumi

    2017-01-01

    We consider a distributed system consisting of autonomous mobile computing entities, called robots, moving in a specified space. The robots are anonymous, oblivious, and have neither any access to the global coordinate system nor any explicit communication medium. Each robot observes the positions of other robots and moves in terms of its local coordinate system. To investigate the self-organization power of robot systems, formation problems in the two dimensional space (2D-space) have been e...

  11. Collaborative Indoor Access Point Localization Using Autonomous Mobile Robot Swarm

    Directory of Open Access Journals (Sweden)

    Fahed Awad

    2018-01-01

    Full Text Available Localization of access points has become an important research problem due to the wide range of applications it addresses such as dismantling critical security threats caused by rogue access points or optimizing wireless coverage of access points within a service area. Existing proposed solutions have mostly relied on theoretical hypotheses or computer simulation to demonstrate the efficiency of their methods. The techniques that rely on estimating the distance using samples of the received signal strength usually assume prior knowledge of the signal propagation characteristics of the indoor environment in hand and tend to take a relatively large number of uniformly distributed random samples. This paper presents an efficient and practical collaborative approach to detect the location of an access point in an indoor environment without any prior knowledge of the environment. The proposed approach comprises a swarm of wirelessly connected mobile robots that collaboratively and autonomously collect a relatively small number of non-uniformly distributed random samples of the access point’s received signal strength. These samples are used to efficiently and accurately estimate the location of the access point. The experimental testing verified that the proposed approach can identify the location of the access point in an accurate and efficient manner.

  12. Collaborative Indoor Access Point Localization Using Autonomous Mobile Robot Swarm.

    Science.gov (United States)

    Awad, Fahed; Naserllah, Muhammad; Omar, Ammar; Abu-Hantash, Alaa; Al-Taj, Abrar

    2018-01-31

    Localization of access points has become an important research problem due to the wide range of applications it addresses such as dismantling critical security threats caused by rogue access points or optimizing wireless coverage of access points within a service area. Existing proposed solutions have mostly relied on theoretical hypotheses or computer simulation to demonstrate the efficiency of their methods. The techniques that rely on estimating the distance using samples of the received signal strength usually assume prior knowledge of the signal propagation characteristics of the indoor environment in hand and tend to take a relatively large number of uniformly distributed random samples. This paper presents an efficient and practical collaborative approach to detect the location of an access point in an indoor environment without any prior knowledge of the environment. The proposed approach comprises a swarm of wirelessly connected mobile robots that collaboratively and autonomously collect a relatively small number of non-uniformly distributed random samples of the access point's received signal strength. These samples are used to efficiently and accurately estimate the location of the access point. The experimental testing verified that the proposed approach can identify the location of the access point in an accurate and efficient manner.

  13. Performance Evaluation of a Mobile Wireless Computational Grid ...

    African Journals Online (AJOL)

    PROF. OLIVER OSUAGWA

    2015-12-01

    Dec 1, 2015 ... This work developed and simulated a mathematical model for a mobile wireless computational Grid architecture using networks of queuing ... (response time). Thus the problem is formulated as a non-cooperative game among .... evaluation are analytical modelling, simulation and measurement [10]. In this ...

  14. Wireless power transfer for electric vehicles and mobile devices

    CERN Document Server

    Rim, Chun T

    2017-01-01

    From mobile, cable-free re-charging of electric vehicles, smart phones and laptops to collecting solar electricity from orbiting solar farms, wireless power transfer (WPT) technologies offer consumers and society enormous benefits. Written by innovators in the field, this comprehensive resource explains the fundamental principles and latest advances in WPT and illustrates key applications of this emergent technology.

  15. Performance Evaluation of a Mobile Wireless Computational Grid ...

    African Journals Online (AJOL)

    This work developed and simulated a mathematical model for a mobile wireless computational Grid architecture using networks of queuing theory. This was in order to evaluate the performance of theload-balancing three tier hierarchical configuration. The throughput and resource utilizationmetrics were measured and the ...

  16. Fuzzy control system for a mobile robot

    International Nuclear Information System (INIS)

    Hai Quan Dai; Dalton, G.R.; Tulenko, J.

    1992-01-01

    Since the first fuzzy logic control system was proposed by Mamdani, many studies have been carried out on industrial process and real-time controls. The key problem for the application of fuzzy logic control is to find a suitable set of fuzzy control rules. Three common modes of deriving fuzzy control rules are often distinguished and mentioned: (1) expert experience and knowledge; (2) modeling operator control actions; and (3) modeling a process. In cases where an operator's skill is important, it is very useful to derive fuzzy control rules by modeling an operator's control actions. It is possible to model an operator's control behaviors in terms of fuzzy implications using the input-output data concerned with his/her control actions. The authors use the model obtained in this way as the basis for a fuzzy controller. The authors use a finite number of fuzzy or approximate control rules. To control a robot in a cluttered reactor environment, it is desirable to combine all the methods. In this paper, the authors describe a general algorithm for a mobile robot control system with fuzzy logic reasoning. They discuss the way that knowledge of fuzziness will be represented in this control system. They also describe a simulation program interface to the K2A Cybermation mobile robot to be used to demonstrate the control system

  17. Probabilistic Location-based Routing Protocol for Mobile Wireless Sensor Networks with Intermittent Communication

    Directory of Open Access Journals (Sweden)

    Sho KUMAGAI

    2015-02-01

    Full Text Available In a sensor network, sensor data messages reach the nearest stationary sink node connected to the Internet by wireless multihop transmissions. Recently, various mobile sensors are available due to advances of robotics technologies and communication technologies. A location based message-by-message routing protocol, such as Geographic Distance Routing (GEDIR is suitable for such mobile wireless networks; however, it is required for each mobile wireless sensor node to know the current locations of all its neighbor nodes. On the other hand, various intermittent communication methods for a low power consumption requirement have been proposed for wireless sensor networks. Intermittent Receiver-driven Data Transmission (IRDT is one of the most efficient methods; however, it is difficult to combine the location based routing and the intermittent communication. In order to solve this problem, this paper proposes a probabilistic approach IRDT-GEDIR with the help of one of the solutions of the secretaries problem. Here, each time a neighbor sensor node wakes up from its sleep mode, an intermediate sensor node determines whether it forwards its buffered sensor data messages to it or not based on an estimation of achieved pseudo speed of the messages. Simulation experiments show that IRDT-GEDIR achieves higher pseudo speed of sensor data message transmissions and shorter transmission delay than achieves shorter transmission delay than the two naive combinations of IRDT and GEDIR in sensor networks with mobile sensor nodes and a stationary sink node. In addition, the guideline of the estimated numbers of the neighbor nodes of each intermediate sensor node is provided based on the results of the simulation experiments to apply the probabilistic approach IRDT-GEDIR.

  18. Intelligent Vision System for Door Sensing Mobile Robot

    Directory of Open Access Journals (Sweden)

    Jharna Majumdar

    2012-08-01

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

  19. Design of a highly maneuverable wheeled mobile robot

    Science.gov (United States)

    Udengaard, Martin; Iagnemma, Karl

    2008-04-01

    An omnidirectional mobile robot is able, kinematically, to move in any direction regardless of current pose. To date, nearly all designs and analyses of omnidirectional mobile robots have considered the case of motion on flat, smooth terrain. In this paper, an investigation of the design and analysis of an omnidirectional mobile robot for use in rough terrain is presented. Kinematic and geometric properties of the active split offset caster drive mechanism are investigated along with system and subsystem design guidelines. An optimization method is implemented to explore the design space. Use of this method results in a robot that has higher mobility than a robot designed using engineering judgment. A point design generated by the optimization method is shown for a meter-scale mobile robot.

  20. Comparing mobile robot localisation algorithms using Kalmtool

    DEFF Research Database (Denmark)

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

    2009-01-01

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

  1. Circle formation for anonymous mobile robots with order preservation

    NARCIS (Netherlands)

    Wang, Chen; Cao, Ming; Xie, Guangming; Wang, Long

    2012-01-01

    This paper proposes a distributed control law for a group of mobile robots to form any given formation on a circle of a prescribed radius. The robots are modeled by point masses with the constraint that all of them can move only on the circle. In particular, robots are oblivious, anonymous, and

  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. Sociable mobile robots through self-maintained energy

    DEFF Research Database (Denmark)

    Ngo, Trung Dung; Schiøler, Henrik

    2006-01-01

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

  4. Sociable mobile robots through self-maintained energy

    DEFF Research Database (Denmark)

    Ngo, Trung Dung; Schiøler, Henrik

    2006-01-01

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

  5. Approaches to probabilistic model learning for mobile manipulation robots

    CERN Document Server

    Sturm, Jürgen

    2013-01-01

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

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

    Directory of Open Access Journals (Sweden)

    KS Nagla

    2013-09-01

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

  7. Wireless image streaming in mobile ultrasound.

    Science.gov (United States)

    Dickson, Brett W; Pedersen, Peder C

    2010-03-01

    This work evaluates the feasibility of using 802.11 g ad hoc and 3G cellular broadband networks to wirelessly stream ultrasound video in real-time. Telemedicine ultrasound applications in events such as disaster relief and first-response triage can incorporate these technologies, enabling onsite medical personnel to receive assistance with diagnostic decisions by remote medical experts. The H.264 scalable video codec was used to encode echocardiographic video streams at various image resolutions (video graphics array [VGA] and quarter video graphics array [QVGA]) and frame rates (10, 15, 20, and 30 frames/s). The video stream was transmitted using 802.11 g and 3G cellular technologies, and pertinent transmission parameters such as data rate, packet loss, delay jitter, and latency were measured. 802.11 g permits high frame rate and VGA resolution and has low latency and jitter, but it is suitable only for short communication ranges, whereas the 3G cellular network allows medium to low frame rate streaming at QVGA image resolution with medium latency. However, video streaming can take place from any location with 3G service to any other site with Internet connectivity. The transmitted ultrasound video streams were subsequently recorded and evaluated by physicians with expertise in medical ultrasonography who evaluated the diagnostic value of the received video streams relative to the original videos. They expressed the opinion that image quality in the case of both 802.11 g and 3G was fully to adequately preserved, but missed frames could momentarily decrease the diagnostic value. This research demonstrates that 3G and 802.11 g wireless networks combined with efficient video compression make diagnostically valuable wireless streaming of ultrasound video feasible.

  8. SyRoTek--Distance Teaching of Mobile Robotics

    Science.gov (United States)

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

    2013-01-01

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

  9. Sensor fusion for mobile robot navigation

    International Nuclear Information System (INIS)

    Kam, M.; Zhu, X.; Kalata, P.

    1997-01-01

    The authors review techniques for sensor fusion in robot navigation, emphasizing algorithms for self-location. These find use when the sensor suite of a mobile robot comprises several different sensors, some complementary and some redundant. Integrating the sensor readings, the robot seeks to accomplish tasks such as constructing a map of its environment, locating itself in that map, and recognizing objects that should be avoided or sought. The review describes integration techniques in two categories: low-level fusion is used for direct integration of sensory data, resulting in parameter and state estimates; high-level fusion is used for indirect integration of sensory data in hierarchical architectures, through command arbitration and integration of control signals suggested by different modules. The review provides an arsenal of tools for addressing this (rather ill-posed) problem in machine intelligence, including Kalman filtering, rule-based techniques, behavior based algorithms and approaches that borrow from information theory, Dempster-Shafer reasoning, fuzzy logic and neural networks. It points to several further-research needs, including: robustness of decision rules; simultaneous consideration of self-location, motion planning, motion control and vehicle dynamics; the effect of sensor placement and attention focusing on sensor fusion; and adaptation of techniques from biological sensor fusion

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

    Directory of Open Access Journals (Sweden)

    Li Guangxu

    2015-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Giuseppe Quaglia

    2013-07-01

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

  12. 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.

  13. EMBEDDED CONTROL SYSTEM FOR MOBILE ROBOTS WITH DIFFERENTIAL DRIVE

    Directory of Open Access Journals (Sweden)

    Michal KOPČÍK

    2017-09-01

    Full Text Available This article deals with design and implementation of control system for mobile robots with differential drive using embedded system. This designed embedded system consists of single control board featuring ARM based microcontroller which control the peripherals in real time and perform all low-level motion control. Designed embedded system can be easily expanded with additional sensors, actuators or control units to enhance applicability of mobile robot. Designed embedded system also features build-in communication module, which can be used for data for data acquisition and control of the mobile robot. Control board was implemented on two different types of mobile robots with differential drive, one of which was wheeled and other was tracked. These mobile robots serve as testing platform for Fault Detection and Isolation using hardware and analytical redundancy using Multisensor Data Fusion based on Kalman filters.

  14. Simultaneous mobile sink allocation in home environments with applications in mobile consumer robotics

    OpenAIRE

    Chanak, Prasenjit; Banerjee, Indrajit; Sherratt, R. Simon

    2015-01-01

    This paper presents a novel mobile sink area allocation scheme for consumer based mobile robotic devices with a proven application to robotic vacuum cleaners. In the home or office environment, rooms are physically separated by walls and an automated robotic cleaner cannot make a decision about which room to move to and perform the cleaning task. Likewise, state of the art cleaning robots do not move to other rooms without direct human interference. In a smart home monitoring system, sensor n...

  15. Energy efficiency in hybrid mobile and wireless networks

    Energy Technology Data Exchange (ETDEWEB)

    Ziaul Haq Abbas

    2012-07-01

    Wireless Internet access is almost pervasive nowadays, and many types of wireless networks can be used to access the Internet. However, along with this growth, there is an even greater concern about the energy consumption and efficiency of mobile devices as well as of the supporting networks, triggering the appearance of the concept of green communication. While some efforts have been made towards this direction, challenges still exist and need to be tackled from diverse perspectives. Cellular networks, WLANs, and ad hoc networks in the form of wireless mesh networks are the most popular technologies for wireless Internet access. The availability of such a variety of access networks has also paved the way to explore synergistic approaches for Internet access, leading to the concept of hybrid networks and relay communications. In addition, many mobile devices are being equipped with multiple interfaces, enabling them to operate in hybrid networks. In contrast, the improvements in the battery technology itself have not matched the pace of the emerging mobile applications. The situation becomes more sophisticated when a mobile device functions also as a relay node to forward other station's data. In the literature, energy efficiency of mobile devices has been addressed from various perspectives such as protocol-level efforts, battery management efforts, etc. However, there is little work on energy efficiency in hybrid mobile and wireless networks and devices with heterogeneous connections. For example, when there are multiple networks available to a mobile device, how to achieve optimum long-term energy consumption of such a device is an open question. Furthermore, in today's cellular networks, micro-, pico-, and femto-cells are the most popular network topologies in order to support high data rate services and high user density. With the growth of such small-cell solutions, the energy consumption of these networks is also becoming an important concern for operators

  16. Mobility Models for Next Generation Wireless Networks Ad Hoc, Vehicular and Mesh Networks

    CERN Document Server

    Santi, Paolo

    2012-01-01

    Mobility Models for Next Generation Wireless Networks: Ad Hoc, Vehicular and Mesh Networks provides the reader with an overview of mobility modelling, encompassing both theoretical and practical aspects related to the challenging mobility modelling task. It also: Provides up-to-date coverage of mobility models for next generation wireless networksOffers an in-depth discussion of the most representative mobility models for major next generation wireless network application scenarios, including WLAN/mesh networks, vehicular networks, wireless sensor networks, and

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

    Directory of Open Access Journals (Sweden)

    Lorinc Marton Marton

    2014-07-01

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

  18. Robotics.

    Science.gov (United States)

    Waddell, Steve; Doty, Keith L.

    1999-01-01

    "Why Teach Robotics?" (Waddell) suggests that the United States lags behind Europe and Japan in use of robotics in industry and teaching. "Creating a Course in Mobile Robotics" (Doty) outlines course elements of the Intelligent Machines Design Lab. (SK)

  19. P2P Data Management in Mobile Wireless Sensor Network

    Directory of Open Access Journals (Sweden)

    Nida Sahar Sayeda

    2013-04-01

    Full Text Available The rapid growth in wireless technologies has made wireless communication an important source for transporting data across different domains. In the same way, there are possibilities of many potential applications that can be deployed using WSNs (Wireless Sensor Networks. However, very limited applications are deployed in real life due to the uncertainty and dynamics of the environment and scare resources. This makes data management in WSN a challenging area to find an approach that suits its characteristics. Currently, the trend is to find efficient data management schemes using evolving technologies, i.e. P2P (Peer-to-Peer systems. Many P2P approaches have been applied in WSNs to carry out the data management due to similarities between WSN and P2P. With the similarities, there are differences too that makes P2P protocols inefficient in WSNs. Furthermore, to increase the efficiency and to exploit the delay tolerant nature of WSNs, where ever possible, the mobile WSNs are gaining importance. Thus, creating a three dimensional problem space to consider, i.e. mobility, WSNs and P2P. In this paper, an efficient algorithm is proposed for data management using P2P techniques for mobile WSNs. The real world implementation and deployment of proposed algorithm is also presented

  20. Mobile Robotics Activities in DOE Laboratories

    Energy Technology Data Exchange (ETDEWEB)

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

    2005-03-01

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

  1. WIRELESS ADVERTISING: A STUDY OF MOBILE PHONE USERS

    Directory of Open Access Journals (Sweden)

    Gurau Calin

    2011-07-01

    Full Text Available Topic: Using a qualitative methodology, this study attempts to provide a general framework of the functions of mobile communication, and to identify the specific preferences of mobile phone users regarding the commercial messages received on their personal devices. Research objectives: (1 To identify the specific characteristics of mobile communication as perceived by mobile users; (2 to define and analyze the functions of wireless communication as perceived by mobile phone users; and (3 to investigate users preference regarding the content of commercial wireless communication. Previous research: Bauer et al. (2002 identified time, location, information and personalization as relevant acceptance factors for mobile advertising. Barwise and Strong (2002 developed a conceptual model, arguing that social norms, user's motives, mode, time, location and personal characteristics will affect the processing of mobile information by consumers. Tsang et al. (2004 evidenced the influence of entertainment, informativeness and irritation, while Bauer et al. (2005 argued that consumer attitudes are influenced by perceived information, entertainment, and social utility. In a similar study, Xu and Gutierrez (2006 tested the effect of entertainment, irritation, informativeness, credibility and personalization on the attitudes of Chinese consumers. Research methodology: First, a series of academic and practical articles and reports have been accessed in order to assess the existing knowledge on this topic. Second, five focus groups have been organized with six mobile phone users, aged between 20 and 40 years old. Each focus group comprised an equal number of male and female participants. The focus groups lasted between 45 and 60 minutes and addressed three main issues: the specific characteristics of the mobile phones as a commercial communication media, the functions of mobile phone communication, and the specific preferences of mobile phones users regarding the

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

    Directory of Open Access Journals (Sweden)

    Noureddine Ouadah

    2008-11-01

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

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

    Directory of Open Access Journals (Sweden)

    Noureddine Ouadah

    2008-09-01

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

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

    Directory of Open Access Journals (Sweden)

    G. Nirmala

    2017-01-01

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

  5. 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

  6. Mobile robot vehicles for physical security

    International Nuclear Information System (INIS)

    McGovern, D.E.

    1987-07-01

    A fleet of vehicles is being developed and maintained by Sandia National Labs for studies in remote control and autonomous operation. These vehicles range from modified commercial vehicles to specially constructed mobile platforms and are utilized as test beds for developing concepts in the application of robotics to interior and exterior physical security. Actuators control the vehicle speed, brakes, and steering through manual input from a remote driving station or through some level of digital computer control. On-board processing may include simple vehicle control functions or may allow for unmanned, autonomous operation. communication links are provided for digital communication between control computers, television transmission for vehicle vision, and voice for local control. With these vehicles, SNL can develop, test, and evaluate sensors, processing requirements, various methods of actuator implementation, operator controlled feedback requirements, and vehicle operations. A description of the major features and uses for each of the vehicles in the fleet is provided

  7. Mobile robot vehicles for physical security

    International Nuclear Information System (INIS)

    Mc Govern, D.E.

    1987-01-01

    A fleet of vehicles is being developed and maintained by Sandia National Labs for studies in remote control and autonomous operation. These vehicles range from modified commercial vehicles to specially constructed mobile platforms and are utilized as test beds for developing concepts in the application of robotics to interior and exterior physical security. Actuators control the vehicle speed, brakes, and steering through manual input from a remote driving station or through some level of digital computer control. On-board processing may include simple vehicle control functions or may allow for unmanned, autonomous operation. Communication links are provided for digital communication between control computers, television transmission for vehicle vision, and voice for local control. With these vehicles, SNL can develop, test, and evaluate sensors, processing requirements, various methods of actuator implementation, operator controlled feedback requirements, and vehicle operations. A description of the major features and uses for each of the vehicles in the fleet is provided

  8. Reactive navigational controller for autonomous mobile robots

    Science.gov (United States)

    Hawkins, Scott

    1993-12-01

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

  9. Mobile robot vehicles for physical security

    International Nuclear Information System (INIS)

    McGovern, D.E.

    1987-06-01

    A fleet of vehicles is being developed and maintained by Sandia National Labs for studies in remote control and autonomous operation. These vehicles range from modified commercial vehicles to specially constructed mobile platforms and are utilized as test beds for developing concepts in the application of robotics to interior and exterior physical security. Actuators control the vehicle speed, brakes, and steering through manual input from a remote driving station or through some level of digital computer control. On-board processing may include simple vehicle control functions or may allow for unmanned, autonomous operation. Communication links are provided for digital communication between control computers, television transmission for vehicle vision, and voice for local control. With these vehicles, SNL can develop, test, and evaluate sensors, processing requirements, various methods of actuator implementation, operator controlled feedback requirements, and vehicle operations. A description of the major features and uses for each of the vehicles in the fleet is provided. 4 refs., 1 fig., 1 tab

  10. Micro-intestinal robot with wireless power transmission: design, analysis and experiment.

    Science.gov (United States)

    Shi, Yu; Yan, Guozheng; Chen, Wenwen; Zhu, Bingquan

    2015-11-01

    Video capsule endoscopy is a useful tool for noninvasive intestinal detection, but it is not capable of active movement; wireless power is an effective solution to this problem. The research in this paper consists of two parts: the mechanical structure which enables the robot to move smoothly inside the intestinal tract, and the wireless power supply which ensures efficiency. First, an intestinal robot with leg architectures was developed based on the Archimedes spiral, which mimics the movement of an inchworm. The spiral legs were capable of unfolding to an angle of approximately 155°, which guaranteed stability of clamping, consistency of surface pressure, and avoided the risk of puncturing the intestinal tract. Secondly, the necessary power to operate the robot was far beyond the capacity of button batteries, so a wireless power transmission (WPT) platform was developed. The design of the platform focused on power transfer efficiency and frequency stability. In addition, the safety of human tissue in the alternating electromagnetic field was also taken into consideration. Finally, the assembled robot was tested and verified with the use of the WPT platform. In the isolated intestine, the robot system successfully traveled along the intestine with an average speed of 23 mm per minute. The obtained videos displayed a resolution of 320 × 240 and a transmission rate of 30 frames per second. The WPT platform supplied up to 500 mW of energy to the robot, and achieved a power transfer efficiency of 12%. It has been experimentally verified that the intestinal robot is safe and effective as an endoscopy tool, for which wireless power is feasible. Proposals for further improving the robot and wireless power supply are provided later in this paper. Copyright © 2015 Elsevier Ltd. All rights reserved.

  11. Automating CapCom Using Mobile Agents and Robotic Assistants

    Science.gov (United States)

    Clancey, William J.; Sierhuis, Maarten; Alena, Richard L.; Graham, Jeffrey S.; Tyree, Kim S.; Hirsh, Robert L.; Garry, W. Brent; Semple, Abigail; Shum, Simon J. Buckingham; Shadbolt, Nigel; hide

    2007-01-01

    Mobile Agents (MA) is an advanced Extra-Vehicular Activity (EVA) communications and computing system to increase astronaut self-reliance and safety, reducing dependence on continuous monitoring and advising from mission control on Earth. MA is voice controlled and provides information verbally to the astronauts through programs called "personal agents." The system partly automates the role of CapCom in Apollo-including monitoring and managing navigation, scheduling, equipment deployment, telemetry, health tracking, and scientific data collection. Data are stored automatically in a shared database in the habitat/vehicle and mirrored to a site accessible by a remote science team. The program has been developed iteratively in authentic work contexts, including six years of ethnographic observation of field geology. Analog field experiments in Utah enabled empirically discovering requirements and testing alternative technologies and protocols. We report on the 2004 system configuration, experiments, and results, in which an EVA robotic assistant (ERA) followed geologists approximately 150 m through a winding, narrow canyon. On voice command, the ERA took photographs and panoramas and was directed to serve as a relay on the wireless network.

  12. Development of an intelligent wireless sensor network with mobile nodes

    Science.gov (United States)

    St. Pierre, Joseph; Michel, Howard E.

    2009-05-01

    Wireless sensor networks have become viable solutions to many commercial and military applications. This research focuses on utilizing the I-TRM to develop an architecture which supports adaptive, self-healing, and self-aware intelligent wireless sensor networks capable of supporting mobile nodes. Sensor subsystems are crucial in the development of projects to test complex systems such as the Future Combat System, a multi-layered system consisting of soldiers and 18 subsystems connected by a network. The proposed architecture utilizes the Sensor Web Enablement (SWE), a standard for sensor networks being developed by the Open Geospatial Consortium (OGC), and the Integrated Technical Reference Model (I-TRM), a multi-layered technical reference model consisting of a behavior-centric technical reference model, information-centric technical reference model, and control technical reference model. The designed architecture has been implemented on MPR2400CA motes using the nesC programming language. Preliminary results show the architecture meets needs of systems such as the Future Combat System. The architecture supports standard and tailored sensors, mobile and immobile sensors nodes, and is scalable. Also, functionality was implemented which produces adaptive, self-healing, and self-aware behavior in the wireless sensor network.

  13. Autonomous Mobile Platform for Research in Cooperative Robotics

    Science.gov (United States)

    Daemi, Ali; Pena, Edward; Ferguson, Paul

    1998-01-01

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

  14. Tethered Contactless Mobile Nuclear Environment Monitoring Robot

    Energy Technology Data Exchange (ETDEWEB)

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

    2013-05-15

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

  15. A Decentralized Interactive Architecture for Aerial and Ground Mobile Robots Cooperation

    OpenAIRE

    Harik, El Houssein Chouaib; Guérin, François; Guinand, Frédéric; Brethé, Jean-François; Pelvillain, Hervé

    2014-01-01

    International audience; —This paper presents a novel decentralized interactive architecture for aerial and ground mobile robots cooperation. The aerial mobile robot is used to provide a global coverage during an area inspection, while the ground mobile robot is used to provide a local coverage of ground features. We include a human-in-the-loop to provide waypoints for the ground mobile robot to progress safely in the inspected area. The aerial mobile robot follows continuously the ground mobi...

  16. MOBILE ENTITIES IN WIRELESS SENSOR NETWORKS: THEORY AND PERFORMANCE ANALYSIS

    Directory of Open Access Journals (Sweden)

    Regis W. Anne

    2013-03-01

    Full Text Available Wireless Sensor Network (WSN is a collection of intelligent sensors that can communicate to form a self-organizing network and can function without human intervention for a long amount of time. Traditionally, WSN was static, but due to the necessity of today’s applications, there has been a paradigm shift from a static WSN to dynamic WSN. This dynamism can be realized by adding mobility to static WSN. Mobility can be added by introducing extra elements called Mobile Entities (MEs like Mobile Sinks (MSs, Mobile Cluster Heads (MCHs, Mobile Relays (MRs and Mobile Sensor Nodes (MSNs. Adding MEs to WSN has attracted much research interests because it can significantly improve the capability and functionality of the WSN by making it flexible to failures, ease data collection, increase energy efficiency, enhance connectivity, improve coverage and prolong network lifetime, so the full potential of MEs can be harnessed to yield maximum benefits in static WSN. The goal of this paper is to present a comparative study and performance analysis of few of the possible MEs in literature and based on the results and analysis the best ME can be chosen for the desired application.

  17. Development of robotic mobile platform with the universal chassis system

    Science.gov (United States)

    Ryadchikov, I.; Nikulchev, E.; Sechenev, S.; Drobotenko, M.; Svidlov, A.; Volkodav, P.; Feshin, A.

    2018-02-01

    The problem of stabilizing the position of mobile devices is extremely relevant at the modern level of technology development. This includes the problem of stabilizing aircraft and stabilizing the pitching of ships. In the laboratory of robotics and mechatronics of the Kuban State University, a robot is developed. The robot has additional internal degrees of freedom, responsible for compensating for deflections - the dynamic stabilization system.

  18. Trajectory Planning for Nonholonomic Mobile Robot Using Extended Kalman Filter

    OpenAIRE

    de Melo, Leonimer Flavio; Junior, Jose Fernando Mangili

    2010-01-01

    In the mobile robotic systems, a precise estimate of the robot pose with the intention of the optimization in the path planning is essential for the correct performance, on the part of the robots, for tasks that are destined to it. This paper describes the use of RF digital signal interacting with beacons for computational triangulation in the way to provide a pose estimative at bidimensional indoor environment, where GPS system is out of range. This methodology takes advantage...

  19. Mobility-aware Hybrid Synchronization for Wireless Sensor Network

    DEFF Research Database (Denmark)

    Dnyaneshwar, Mantri; Prasad, Neeli R.; Prasad, Ramjee

    2015-01-01

    Random mobility of node causes the frequent changes in the network dynamics causing the increased cost in terms of energy and bandwidth. It needs the additional efforts to synchronize the activities of nodes during data collection and transmission in Wireless Sensor Networks (WSNs). A key challenge...... in maintaining the effective data collection and transmission is to schedule and synchronize the activities of the nodes with the global clock. This paper proposes the Mobility-aware Hybrid Synchronization Algorithm (MHS) which works on the formation of cluster based on spanning tree mechanism (SPT). Nodes used...... for formation of the network have random mobility and heterogeneous in terms of energy with static sink. The nodes in the cluster and cluster heads in the network are synchronized with the notion of global time scale. In the initial stage, the algorithm establishes the hierarchical structure of the network...

  20. Isotropic Optical Mouse Placement for Mobile Robot Velocity Estimation

    Directory of Open Access Journals (Sweden)

    Sungbok Kim

    2014-06-01

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

  1. Mars Exploration Rover mobility and robotic arm operational performance

    Science.gov (United States)

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

    2005-01-01

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

  2. Hybrid Control Design for a Wheeled Mobile Robot

    DEFF Research Database (Denmark)

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

    2003-01-01

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

  3. Hybrid Control Design for a Wheeled Mobile Robot

    DEFF Research Database (Denmark)

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

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

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

    Science.gov (United States)

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

    2013-01-01

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

  5. MART: an overview of the Mobile Autonomous Robot Twente project

    NARCIS (Netherlands)

    Tillema, H.G.; de Graaf, A.J.; Koster, M.P.; Nauta, J.M.; Oelen, W.; Schipper, D.A.

    1993-01-01

    At the University of Twente a mobile autonomous robot system is built that is designed to operate in a 'factory of the future'. Multiple robots, consisting of a manipulator on top of a vehicle, will drive through an assembly hall to collect components at part supply stations and to assemble

  6. ARK: Autonomous mobile robot in an industrial environment

    Science.gov (United States)

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

    1994-01-01

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

  7. 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.

  8. Modeling and Control of Wheeled Mobile Robots.

    Science.gov (United States)

    Muir, Patrick Fred

    The accurate model-based servo-control of wheeled mobile robots (WMRs) relies upon the formulation of realistic kinematic and dynamic models. We identify six special WMR characteristics (closed-chains, higher-pair joints, unactuated and unsensed joints, friction, and pulse-width modulation) that require methodologies for modeling and control beyond those conventionally applied to stationary manipulators. Then, we develop methodologies for the kinematic and dynamic modeling of robotic mechanisms incorporating these special characteristics. We introduce instantaneously coincident coordinate systems and the wheel Jacobian to resolve WMR kinematic modeling. We introduce the concepts of force/torque propagation and frictional coupling at a joint to formulate a powerful unifying dynamic modeling framework. We compute the inverse and forward kinematic and dynamic solutions for model-based WMR servo-control and simulation. We demonstrate the applicability of (kinematics -based) resolved motion rate and (dynamics-based) resolved acceleration servo-control methodologies to WMRs through computer simulation evaluation studies. We exemplify our modeling and servo-control methodologies through Uranus, a three degree-of-freedom (DOF) WMR, and Bicsun-Bicas, a two DOF WMR. Our results show that resolved motion rate servo-control is adequate for general-purpose applications of Uranus. In contrast, the mechanically simpler Bicsun -Bicas requires the computationaly complex resolved acceleration servo-control to compensate for the significant coupling and nonlinear components in its dynamic model. We recommend Bicsun-Bicas with resolved acceleration servo-control for general-purpose indoor applications because it is mechanically simple, capable of tracking any spatial x-y path, and if a turret is added, provides onboard manipulators, sensors, or docking instruments with three DOFs.

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

    Science.gov (United States)

    2014-10-01

    Defence Research and Development Canada Suffield, Alberta , Canada jack.collier@drdc-rddc.gc.ca Abstract—A time-optimal speed schedule results in a...Mobile Robotics; I. INTRODUCTION Trajectory planning through large- scale , unstructured en- vironments is a challenging task for autonomous mobile robots...were taught at the DRDC Experimental Proving Grounds in Suffield, Alberta , Canada. The resulting speed schedules varied in speed from 0.5 m/s to 2.0 m/s

  10. Feedback linearized trajectory-tracking control of a mobile robot

    Directory of Open Access Journals (Sweden)

    Kabanov Aleksey

    2017-01-01

    Full Text Available This paper is devoted to the designing of a trajectory-tracking control system for a unicycle-type mobile robot. Synthesis of the trajectory control law is based on the feedback linearization method and a canonical similarity transformation of nonlinear affine system in state-dependent coefficient form. The result of experimental test of the trajectory control system for mobile robot Rover5 is presented.

  11. Deadlock Avoidance Policy in Mobile Wireless Sensor Networks with Free Choice Resource Routing

    Directory of Open Access Journals (Sweden)

    Prasanna Ballal

    2008-11-01

    Full Text Available Efficient control schemes are required for effective cooperation of robot teams in a mobile wireless sensor network. If the robots (resources are also in charge of executing multiple simultaneous missions, then risks of deadlocks due to the presence of shared resources among different missions increase and have to be tackled. Discrete event control with deadlock avoidance has been used in the past for robot team coordination for the case of multi reentrant flowline models with shared resources. In this paper we present an analysis of deadlock avoidance for a generalized case of multi reentrant flow line systems (MRF called the Free Choice Multi Reentrant Flow Line systems (FMRF. In FMRF, some tasks have multiple resource choices; hence routing decisions have to be made and current results in deadlock avoidance for MRF do not hold. This analysis is based on the so-called Circular Waits (CW of the resources in the system. For FMRF, the well known notions of Critical Siphons and Critical Subsystems must be generalized and we redefine these objects for such systems. Our second contribution provides a matrix formulation that efficiently computes the objects required for deadlock avoidance in FMRF systems. A MAXWIP dispatching policy is formulated for deadlock avoidance in FMRF systems. According to this policy, deadlock in FMRF is avoided by limiting the work in progress (WIP in the critical subsystems of each CW. Implemented results of the proposed scheme in a WSN test-bed is presented in the paper.

  12. Deadlock Avoidance Policy in Mobile Wireless Sensor Networks with Free Choice Resource Routing

    Directory of Open Access Journals (Sweden)

    Prasanna Ballal

    2008-09-01

    Full Text Available Efficient control schemes are required for effective cooperation of robot teams in a mobile wireless sensor network. If the robots (resources are also in charge of executing multiple simultaneous missions, then risks of deadlocks due to the presence of shared resources among different missions increase and have to be tackled. Discrete event control with deadlock avoidance has been used in the past for robot team coordination for the case of multi reentrant flowline models with shared resources. In this paper we present an analysis of deadlock avoidance for a generalized case of multi reentrant flow line systems (MRF called the Free Choice Multi Reentrant Flow Line systems (FMRF. In FMRF, some tasks have multiple resource choices; hence routing decisions have to be made and current results in deadlock avoidance for MRF do not hold. This analysis is based on the so-called Circular Waits (CW of the resources in the system. For FMRF, the well known notions of Critical Siphons and Critical Subsystems must be generalized and we redefine these objects for such systems. Our second contribution provides a matrix formulation that efficiently computes the objects required for deadlock avoidance in FMRF systems. A MAXWIP dispatching policy is formulated for deadlock avoidance in FMRF systems. According to this policy, deadlock in FMRF is avoided by limiting the work in progress (WIP in the critical subsystems of each CW. Implemented results of the proposed scheme in a WSN test-bed is presented in the paper.

  13. Rule-Based vs. Behavior-Based Self-Deployment for Mobile Wireless Sensor Networks

    Directory of Open Access Journals (Sweden)

    Cristina Urdiales

    2016-07-01

    Full Text Available In mobile wireless sensor networks (MWSN, nodes are allowed to move autonomously for deployment. This process is meant: (i to achieve good coverage; and (ii to distribute the communication load as homogeneously as possible. Rather than optimizing deployment, reactive algorithms are based on a set of rules or behaviors, so nodes can determine when to move. This paper presents an experimental evaluation of both reactive deployment approaches: rule-based and behavior-based ones. Specifically, we compare a backbone dispersion algorithm with a social potential fields algorithm. Most tests are done under simulation for a large number of nodes in environments with and without obstacles. Results are validated using a small robot network in the real world. Our results show that behavior-based deployment tends to provide better coverage and communication balance, especially for a large number of nodes in areas with obstacles.

  14. Rule-Based vs. Behavior-Based Self-Deployment for Mobile Wireless Sensor Networks.

    Science.gov (United States)

    Urdiales, Cristina; Aguilera, Francisco; González-Parada, Eva; Cano-García, Jose; Sandoval, Francisco

    2016-07-07

    In mobile wireless sensor networks (MWSN), nodes are allowed to move autonomously for deployment. This process is meant: (i) to achieve good coverage; and (ii) to distribute the communication load as homogeneously as possible. Rather than optimizing deployment, reactive algorithms are based on a set of rules or behaviors, so nodes can determine when to move. This paper presents an experimental evaluation of both reactive deployment approaches: rule-based and behavior-based ones. Specifically, we compare a backbone dispersion algorithm with a social potential fields algorithm. Most tests are done under simulation for a large number of nodes in environments with and without obstacles. Results are validated using a small robot network in the real world. Our results show that behavior-based deployment tends to provide better coverage and communication balance, especially for a large number of nodes in areas with obstacles.

  15. Recursive Backstepping Stabilization of a Wheeled Mobile Robot

    Directory of Open Access Journals (Sweden)

    Faical Mnif

    2004-12-01

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

  16. Spacio-temporal situation assessment for mobile robots

    DEFF Research Database (Denmark)

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

    2011-01-01

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

  17. Differential evolution to enhance localization of mobile robots

    DEFF Research Database (Denmark)

    Lisowski, Michal; Fan, Zhun; Ravn, Ole

    2011-01-01

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

  18. Hybrid Collaborative Stereo Vision System for Mobile Robots Formation

    Directory of Open Access Journals (Sweden)

    Flavio Roberti

    2010-02-01

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

  19. Hybrid Collaborative Stereo Vision System for Mobile Robots Formation

    Directory of Open Access Journals (Sweden)

    Flavio Roberti

    2009-12-01

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

  20. Sensor Fusion and Model Verification for a Mobile Robot

    DEFF Research Database (Denmark)

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

    2005-01-01

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

  1. ENERGY EFFICIENT CLUSTER HEAD SELECTION IN MOBILE WIRELESS SENSOR NETWORKS

    Directory of Open Access Journals (Sweden)

    MUHAMMAD ARSHAD

    2014-12-01

    Full Text Available In the era of New Generation Networks (NWGN many emerging and future enable technologies accomplish the requirements of ubiquitous communication networks. Wireless Sensor Networks (WSNs is a vital category of these stateof-the-art technologies, the enormous concerns of these networks are energy efficient and well-organized data aggregation. Cluster based routing in WSNs is an immense solution to enhance the energy efficiency of the nodes and resourceful data gathering. Many studies on network lifetime and data aggregation have been proposed by the Low Energy Adaptive Clustering Hierarchy (LEACH scheme that allows the role of the cluster head rotated among the sensor nodes and attempts to distribute the energy usage through all the nodes. The lifetime of WSNs will be affected by the cluster head (CH selection; this is because a CH consumes more power than a regular (non-CH node. In this research study, an energy efficient cluster head selection in Mobile Wireless Sensor Networks is proposed, analysed and validated on the basis of residual energy and randomized selection of the node, who is not assigned as a cluster head in previous round. Moreover, the proposed approach shows the significant improvements when compared with LEACH and A Novel Application Specific Network Protocol for Wireless Sensor Networks (Hybrid Multi-hop LEACH protocols in terms of energy consumption of sensor nodes, enhanced network lifetime and efficient data gathering due to less energy consumption during data transmission.

  2. Mobile Applications and 4G Wireless Networks: A Framework for Analysis

    Science.gov (United States)

    Yang, Samuel C.

    2012-01-01

    Purpose: The use of mobile wireless data services continues to increase worldwide. New fourth-generation (4G) wireless networks can deliver data rates exceeding 2 Mbps. The purpose of this paper is to develop a framework of 4G mobile applications that utilize such high data rates and run on small form-factor devices. Design/methodology/approach:…

  3. Real Time Mapping and Dynamic Navigation for Mobile Robots

    Directory of Open Access Journals (Sweden)

    Maki K. Habib

    2008-11-01

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

  4. Fuzzy Behaviors for Control of Mobile Robots

    Directory of Open Access Journals (Sweden)

    Saleh Zein-Sabatto

    2003-02-01

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

  5. Levels of autonomy control approach for mobile robots

    Science.gov (United States)

    Moorehead, Stewart J.

    2003-09-01

    Increasingly mobile robots are finding applications in the military, mining, nuclear and agriculture industries. These fields require a robot capable of operating in a highly unstructured and changing environment. Current autonomous control techniques are not robust enough to allow successful operation at all times in these environments. Teleoperation can help with many tasks but causes operator fatigue and negates much of the economic advantages of using robots by requiring one person per robot. This paper introduces a control system for mobile robots based on the concept of levels of autonomy. Levels of autonomy recognizes that control can be shared between the operator and robot in a continuous fashion from teleoperation to full autonomy. By sharing control, the robot can benefit from the operator's knowledge of the world to help extricate it from difficult situations. The robot can operate as autonomously as the situation allows, reducing operator fatigue and increasing the economic benefit by allowing a single operator to control multiple robots simultaneously. This paper presents a levels of autonomy control system developed for use in exploration or reconnaissance tasks.

  6. A Semi-Open Learning Environment for Mobile Robotics

    Directory of Open Access Journals (Sweden)

    Enrique Sucar

    2007-05-01

    Full Text Available We have developed a semi-open learning environment for mobile robotics, to learn through free exploration, but with specific performance criteria that guides the learning process. The environment includes virtual and remote robotics laboratories, and an intelligent virtual assistant the guides the students using the labs. A series of experiments in the virtual and remote labs are designed to gradually learn the basics of mobile robotics. Each experiment considers exploration and performance aspects, which are evaluated by the virtual assistant, giving feedback to the user. The virtual laboratory has been incorporated to a course in mobile robotics and used by a group of students. A preliminary evaluation shows that the intelligent tutor combined with the virtual laboratory can improve the learning process.

  7. Low-level stored waste inspection using mobile robots

    International Nuclear Information System (INIS)

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

    1996-01-01

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

  8. Multi-agent Architecture Model for Driving Mobile Manipulator Robots

    Directory of Open Access Journals (Sweden)

    A. Hentout

    2008-09-01

    Full Text Available In this article, we present generic hierarchical behavior-based architecture model for driving mobile manipulator robots. Two behaviors are of high-level. They constitute the Supervisory agent, which manages the global system. Two others are of intermediate-level and finally one behavior is of low-level. These last ones constitute the Mobile Robot agent and the Manipulator Robot agent controlling, respectively, the mobile base and the manipulator arm. The choice of the suggested model is justified by the generic character of the proposed agent model and by the possibility of integrating the whole in a distributed robotic system. The model is formalized in Agent UML from the conceptual level to the implementation level. The interaction between the various agents is modeled by the use of the interaction diagrams of Agent UML (states and protocol diagrams.

  9. Multi-agent Architecture Model for Driving Mobile Manipulator Robots

    Directory of Open Access Journals (Sweden)

    A. Hentout

    2008-11-01

    Full Text Available In this article, we present generic hierarchical behavior-based architecture model for driving mobile manipulator robots. Two behaviors are of high-level. They constitute the Supervisory agent, which manages the global system. Two others are of intermediate-level and finally one behavior is of low-level. These last ones constitute the Mobile Robot agent and the Manipulator Robot agent controlling, respectively, the mobile base and the manipulator arm. The choice of the suggested model is justified by the generic character of the proposed agent model and by the possibility of integrating the whole in a distributed robotic system. The model is formalized in Agent UML from the conceptual level to the implementation level. The interaction between the various agents is modeled by the use of the interaction diagrams of Agent UML (states and protocol diagrams.

  10. A 3-D Miniature LIDAR System for Mobile Robot Navigation, Phase I

    Data.gov (United States)

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

  11. Adapting Mobile Beacon-Assisted Localization in Wireless Sensor Networks

    Directory of Open Access Journals (Sweden)

    Wei Dong

    2009-04-01

    Full Text Available The ability to automatically locate sensor nodes is essential in many Wireless Sensor Network (WSN applications. To reduce the number of beacons, many mobile-assisted approaches have been proposed. Current mobile-assisted approaches for localization require special hardware or belong to centralized localization algorithms involving some deterministic approaches due to the fact that they explicitly consider the impreciseness of location estimates. In this paper, we first propose a range-free, distributed and probabilistic Mobile Beacon-assisted Localization (MBL approach for static WSNs. Then, we propose another approach based on MBL, called Adapting MBL (A-MBL, to increase the efficiency and accuracy of MBL by adapting the size of sample sets and the parameter of the dynamic model during the estimation process. Evaluation results show that the accuracy of MBL and A-MBL outperform both Mobile and Static sensor network Localization (MSL and Arrival and Departure Overlap (ADO when both of them use only a single mobile beacon for localization in static WSNs.

  12. Adapting mobile beacon-assisted localization in wireless sensor networks.

    Science.gov (United States)

    Teng, Guodong; Zheng, Kougen; Dong, Wei

    2009-01-01

    The ability to automatically locate sensor nodes is essential in many Wireless Sensor Network (WSN) applications. To reduce the number of beacons, many mobile-assisted approaches have been proposed. Current mobile-assisted approaches for localization require special hardware or belong to centralized localization algorithms involving some deterministic approaches due to the fact that they explicitly consider the impreciseness of location estimates. In this paper, we first propose a range-free, distributed and probabilistic Mobile Beacon-assisted Localization (MBL) approach for static WSNs. Then, we propose another approach based on MBL, called Adapting MBL (A-MBL), to increase the efficiency and accuracy of MBL by adapting the size of sample sets and the parameter of the dynamic model during the estimation process. Evaluation results show that the accuracy of MBL and A-MBL outperform both Mobile and Static sensor network Localization (MSL) and Arrival and Departure Overlap (ADO) when both of them use only a single mobile beacon for localization in static WSNs.

  13. Wireless Sensor/Actuator Network Design for Mobile Control Applications

    Directory of Open Access Journals (Sweden)

    Youxian Sung

    2007-10-01

    Full Text Available Wireless sensor/actuator networks (WSANs are emerging as a new generationof sensor networks. Serving as the backbone of control applications, WSANs will enablean unprecedented degree of distributed and mobile control. However, the unreliability ofwireless communications and the real-time requirements of control applications raise greatchallenges for WSAN design. With emphasis on the reliability issue, this paper presents anapplication-level design methodology for WSANs in mobile control applications. Thesolution is generic in that it is independent of the underlying platforms, environment,control system models, and controller design. To capture the link quality characteristics interms of packet loss rate, experiments are conducted on a real WSAN system. From theexperimental observations, a simple yet efficient method is proposed to deal withunpredictable packet loss on actuator nodes. Trace-based simulations give promisingresults, which demonstrate the effectiveness of the proposed approach.

  14. 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.

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

    Science.gov (United States)

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

    2016-05-01

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

  16. Delivering Diagnostic Quality Video over Mobile Wireless Networks for Telemedicine

    Directory of Open Access Journals (Sweden)

    Sira P. Rao

    2009-01-01

    Full Text Available In real-time remote diagnosis of emergency medical events, mobility can be enabled by wireless video communications. However, clinical use of this potential advance will depend on definitive and compelling demonstrations of the reliability of diagnostic quality video. Because the medical domain has its own fidelity criteria, it is important to incorporate diagnostic video quality criteria into any video compression system design. To this end, we used flexible algorithms for region-of-interest (ROI video compression and obtained feedback from medical experts to develop criteria for diagnostically lossless (DL quality. The design of the system occurred in three steps-measurement of bit rate at which DL quality is achieved through evaluation of videos by medical experts, incorporation of that information into a flexible video encoder through the notion of encoder states, and an encoder state update option based on a built-in quality criterion. Medical experts then evaluated our system for the diagnostic quality of the video, allowing us to verify that it is possible to realize DL quality in the ROI at practical communication data transfer rates, enabling mobile medical assessment over bit-rate limited wireless channels. This work lays the scientific foundation for additional validation through prototyped technology, field testing, and clinical trials.

  17. Mobility based multicast routing in wireless mesh networks

    Science.gov (United States)

    Jain, Sanjeev; Tripathi, Vijay S.; Tiwari, Sudarshan

    2013-01-01

    There exist two fundamental approaches to multicast routing namely minimum cost trees and shortest path trees. The (MCT's) minimum cost tree is one which connects receiver and sources by providing a minimum number of transmissions (MNTs) the MNTs approach is generally used for energy constraint sensor and mobile ad hoc networks. In this paper we have considered node mobility and try to find out simulation based comparison of the (SPT's) shortest path tree, (MST's) minimum steiner trees and minimum number of transmission trees in wireless mesh networks by using the performance metrics like as an end to end delay, average jitter, throughput and packet delivery ratio, average unicast packet delivery ratio, etc. We have also evaluated multicast performance in the small and large wireless mesh networks. In case of multicast performance in the small networks we have found that when the traffic load is moderate or high the SPTs outperform the MSTs and MNTs in all cases. The SPTs have lowest end to end delay and average jitter in almost all cases. In case of multicast performance in the large network we have seen that the MSTs provide minimum total edge cost and minimum number of transmissions. We have also found that the one drawback of SPTs, when the group size is large and rate of multicast sending is high SPTs causes more packet losses to other flows as MCTs.

  18. Message Encryption in Robot Operating System: Collateral Effects of Hardening Mobile Robots

    Directory of Open Access Journals (Sweden)

    Francisco J. Rodríguez-Lera

    2018-03-01

    Full Text Available In human–robot interaction situations, robot sensors collect huge amounts of data from the environment in order to characterize the situation. Some of the gathered data ought to be treated as private, such as medical data (i.e., medication guidelines, personal, and safety information (i.e., images of children, home habits, alarm codes, etc.. However, most robotic software development frameworks are not designed for securely managing this information. This paper analyzes the scenario of hardening one of the most widely used robotic middlewares, Robot Operating System (ROS. The study investigates a robot’s performance when ciphering the messages interchanged between ROS nodes under the publish/subscribe paradigm. In particular, this research focuses on the nodes that manage cameras and LIDAR sensors, which are two of the most extended sensing solutions in mobile robotics, and analyzes the collateral effects on the robot’s achievement under different computing capabilities and encryption algorithms (3DES, AES, and Blowfish to robot performance. The findings present empirical evidence that simple encryption algorithms are lightweight enough to provide cyber-security even in low-powered robots when carefully designed and implemented. Nevertheless, these techniques come with a number of serious drawbacks regarding robot autonomy and performance if they are applied randomly. To avoid these issues, we define a taxonomy that links the type of ROS message, computational units, and the encryption methods. As a result, we present a model to select the optimal options for hardening a mobile robot using ROS.

  19. Distributed trajectory tracking control for multiple nonholonomic mobile robots

    NARCIS (Netherlands)

    Yang, Qingkai; Fang, Hao; Cao, Ming; Chen, Jie; Zheng, Weixing

    2016-01-01

    In this paper, the distributed tracking problem for multiple nonholonomic mobile robots is investigated, in which the nonholonomic models are transformed into chained-form systems. By utilizing the dynamic oscillator strategy, the distributed controllers are constructed such that all the mobile

  20. Depth camera driven mobile robot for human localization and following

    DEFF Research Database (Denmark)

    Skordilis, Nikolaos; Vidakis, Nikolaos; Triantafyllidis, Georgios

    2014-01-01

    In this paper the design and the development of a mobile robot able to locate and then follow a human target is described. Both the integration of the required mechatronics components and the development of appropriate software are covered. The main sensor of the developed mobile robot is an RGB...... applied to data captured by a mobile platform. This work proposes the use of a special-tailored feed forward neural network to further process the initial detections, identifying and rejecting most false positives. Experimental results based on two self-captured data sets show the improved detection rate...

  1. Mobile Robot Designed with Autonomous Navigation System

    Science.gov (United States)

    An, Feng; Chen, Qiang; Zha, Yanfang; Tao, Wenyin

    2017-10-01

    With the rapid development of robot technology, robots appear more and more in all aspects of life and social production, people also ask more requirements for the robot, one is that robot capable of autonomous navigation, can recognize the road. Take the common household sweeping robot as an example, which could avoid obstacles, clean the ground and automatically find the charging place; Another example is AGV tracking car, which can following the route and reach the destination successfully. This paper introduces a new type of robot navigation scheme: SLAM, which can build the environment map in a totally strange environment, and at the same time, locate its own position, so as to achieve autonomous navigation function.

  2. Design of a wearable interface for lightweight robotic arm for people with mobility impairments.

    Science.gov (United States)

    Baldi, Tommaso Lisini; Spagnoletti, Giovanni; Dragusanu, Mihai; Prattichizzo, Domenico

    2017-07-01

    Many common activities of daily living like open a door or fill a glass of water, which most of us take for granted, could be an insuperable problem for people who have limited mobility or impairments. For years the unique alternative to overcame this limitation was asking for human help. Nowadays thanks to recent studies and technology developments, having an assistive devices to compensate the loss of mobility is becoming a real opportunity. Off-the-shelf assistive robotic manipulators have the capability to improve the life of people with motor impairments. Robotic lightweight arms represent one of the most spread solution, in particular some of them are designed specifically to be mounted on wheelchairs to assist users in performing manipulation tasks. On the other hand, usually their control interface relies on joystick and buttons, making the use very challenging for people affected by impaired motor abilities. In this paper, we present a novel wearable control interface for users with limb mobility impairments. We make use of muscles residual motion capabilities, captured through a Body-Machine Interface based on a combination of head tilt estimation and electromyography signals. The proposed BMI is completely wearable, wireless and does not require frequently long calibrations. Preliminary experiments showed the effectiveness of the proposed system for subjects with motor impairments, allowing them to easily control a robotic arm for activities of daily living.

  3. Navigation Algorithm Using Fuzzy Control Method in Mobile Robotics

    Directory of Open Access Journals (Sweden)

    Cviklovič Vladimír

    2016-03-01

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

  4. Shed a light of wireless technology on portable mobile design of NIRS

    Science.gov (United States)

    Sun, Yunlong; Li, Ting

    2016-03-01

    Mobile internet is growing rapidly driven by high-tech companies including the popular Apple and Google. The wireless mini-NIRS is believed to deserve a great spread future, while there is sparse report on wireless NIRS device and even for the reported wireless NIRS, its wireless design is scarcely presented. Here we focused on the wireless design of NIRS devices. The widely-used wireless communication standards and wireless communication typical solutions were employed into our NIRS design and then compared on communication efficiency, distance, error rate, low-cost, power consumption, and stabilities, based on the requirements of NIRS applications. The properly-performed wireless communication methods matched with the characteristics of NIRS are picked out. Finally, we realized one recommended wireless communication in our NIRS, developed a test platform on wireless NIRS and tested the full properties on wireless communication. This study elaborated the wireless communication methods specified for NIRS and suggested one implementation with one example fully illustrated, which support the future mobile design on NIRS devices.

  5. PERFORMANCE EVALUATION OF INTEGRATED MACRO AND MICRO MOBILITY PROTOCOLS FOR WIDE AREA WIRELESS NETWORKS

    Directory of Open Access Journals (Sweden)

    R.Gunasundari

    2010-03-01

    Full Text Available The success of next generation wireless networks will rely much on advanced mechanisms for seamless mobility support among emerging heterogeneous technologies. Currently, Mobile IP is the most promising solution for mobility management in the Internet. Several IP micro mobility approaches have been proposed to enhance the performance of Mobile IP which supports quality of service, minimum packet loss, limited handoff delay and scalability and power conservation but they are not scalable for macro mobility. A practical solution would therefore require integration of Mobile IP and Micro mobility protocols where Mobile IP handles macro mobility and micro mobility protocols handles micro mobility. In this paper an integrated mobility management protocol for IP based wireless networks is proposed and analyzed. Simulation results presented in this paper are based on ns 2.

  6. Intelligent wheeled mobile robot for spherical tank welding

    Science.gov (United States)

    Wang, Junbo; Sun, Zhenguo; Ji, Meng; Chen, Qiang; Jiang, Lipei; Jiao, Xiangdong; Xue, Long

    2002-02-01

    At present, spherical tank manufacture is still staying at the level of manual welding or semi-automation. In order to improve quality of weld seam and guarantee safe operating of spherical tank, automatic welding equipment is needed urgently. A intelligent wheeled mobile robot equipped with CCD based visual sensor has been developed to acquire better weld quality in this research. Special mechanical structure has been proposed based a wheeled mobile robot body to realize reliably and flexibly absorbing and moving on the surface of spherical tank. A 3-DOF welding manipulator has been fixed on the robot to carry out welding tasks. A CCD sensor has been used to detect weld seam for the trajectory planing of both the mobile robot and the welding torch, control strategy for nonholonomic system with redundant DOF has been put forward to realize the accurate tracing of weld torch, an intelligent controller has been designed. In this paper, mechanical structure of robot, principle of CCD sensor, tracing model for robot and welding torch, and intelligent controller have been presented in details respectively. Experiments show that this robot can fulfill all-position welding tasks freely on the surface of tank with high weld torch tracing accuracy(up to +/- 0.5mm).

  7. Robotic and Sensor Technologies for Mobility in Older People.

    Science.gov (United States)

    Penteridis, Lazaros; D'Onofrio, Grazia; Sancarlo, Daniele; Giuliani, Francesco; Ricciardi, Francesco; Cavallo, Filippo; Greco, Antonio; Trochidis, Ilias; Gkiokas, Alexander

    2017-10-01

    Maintaining independent mobility is fundamental to independent living and to the quality of life of older people. Robotic and sensor technologies may offer a lot of potential and can make a significant difference in the lives of older people and to their primary caregivers. The aim of this study was to provide a presentation of the methods that are used up till now for analysis and evaluation of human mobility utilizing sensor technologies and to give the state of the art in robotic platforms for supporting older people with mobility limitations. The literature was reviewed and systematic reviews of cohort studies and other authoritative reports were identified. The selection criteria included (1) patients with age ≥60 years; (2) patients with unstable gait, with or without recurrent falls; (3) patients with slow movements, short strides, and little trunk movement; (4) sensor technologies that are currently used for mobility evaluation; and (5) robotic technologies that can serve as a supporting companion for older people with mobility limitations. One hundred eighty-one studies published up until February 2017 were identified, of which 36 were included. Two categories of research were identified from the review regarding the robot and sensor technologies: (1) sensor technologies for mobility analysis and (2) robots for supporting older people with mobility limitations. Potential for robotic and sensor technologies can be taken advantage of for evaluation and support at home for elder persons with mobility limitations in an automated way without the need of the physical presence of any medical personnel, reducing the stress of caregivers.

  8. Mobile Agent-Based Directed Diffusion in Wireless Sensor Networks

    Directory of Open Access Journals (Sweden)

    Kwon Taekyoung

    2007-01-01

    Full Text Available In the environments where the source nodes are close to one another and generate a lot of sensory data traffic with redundancy, transmitting all sensory data by individual nodes not only wastes the scarce wireless bandwidth, but also consumes a lot of battery energy. Instead of each source node sending sensory data to its sink for aggregation (the so-called client/server computing, Qi et al. in 2003 proposed a mobile agent (MA-based distributed sensor network (MADSN for collaborative signal and information processing, which considerably reduces the sensory data traffic and query latency as well. However, MADSN is based on the assumption that the operation of mobile agent is only carried out within one hop in a clustering-based architecture. This paper considers MA in multihop environments and adopts directed diffusion (DD to dispatch MA. The gradient in DD gives a hint to efficiently forward the MA among target sensors. The mobile agent paradigm in combination with the DD framework is dubbed mobile agent-based directed diffusion (MADD. With appropriate parameters set, extensive simulation shows that MADD exhibits better performance than original DD (in the client/server paradigm in terms of packet delivery ratio, energy consumption, and end-to-end delivery latency.

  9. Explosion of mobile and wireless technologies – An opportunities for mobile government to speed up service deliveries: A South African perspective

    CSIR Research Space (South Africa)

    Ogunleye, OS

    2010-10-01

    Full Text Available In this paper, the author investigates the rapid surge in mobile and wireless technologies, and mobile phone in particulars. He also outlines four emerging application areas where mobile technologies hold great potential for mobile government...

  10. Development of a mobile robot for remote radiation measurement

    International Nuclear Information System (INIS)

    Sarkar, Ushnish; Saini, Surendra Singh; Swaroop, Tumapala Teja; Sreejith, P.; Kumar, Ravinder; Ray, Debasish Datta

    2016-01-01

    Remote measurement of radiation using mobile robots is recommended in nuclear installations. For this purpose various robots have been developed that carry a radiation sensor. However since the robot has to go very near to the source of radiation, the life of the robot's components is compromised due to high level of absorbed dose. It was earlier managed to increase the life expectancy of remote radiation measurement robots by allowing the sensor to be placed on an extendable telescopic assembly; analogous to a health physicist taking measurements using a Teletector. The first prototype developed had stair climbing capabilities but it was found to be over dimensioned for various potential applications. A significant use of such robots is in taking measurements at nuclear reprocessing facilities having narrow cluttered pathways. This required development of a new version of the robot capable of negotiating the narrow pathways of such facilities. This paper describes the different aspects of the development of the mobile robot system with flexible radiation sensing capabilities

  11. A path following algorithm for mobile robots

    NARCIS (Netherlands)

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

    2010-01-01

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

  12. 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

  13. A mobile autonomous robot for radiological surveys

    International Nuclear Information System (INIS)

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

    1992-01-01

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

  14. Analysis of time in establishing synchronization radio communication system with expanded spectrum conditions for communication with mobile robots

    Science.gov (United States)

    Latinovic, T. S.; Kalabic, S. B.; Barz, C. R.; Petrica, P. Paul; Pop-Vădean, A.

    2018-01-01

    This paper analyzes the influence of the Doppler Effect on the length of time to establish synchronization pseudorandom sequences in radio communications systems with an expanded spectrum. Also, this paper explores the possibility of using secure wireless communication for modular robots. Wireless communication could be used for local and global communication. We analyzed a radio communication system integrator, including the two effects of the Doppler signal on the duration of establishing synchronization of the received and locally generated pseudorandom sequence. The effects of the impact of the variability of the phase were analyzed between the said sequences and correspondence of the phases of these signals with the interval of time of acquisition of received sequences. An analysis of these impacts is essential in the transmission of signal and protection of the transfer of information in the communication systems with an expanded range (telecommunications, mobile telephony, Global Navigation Satellite System GNSS, and wireless communication). Results show that wireless communication can provide a safety approach for communication with mobile robots.

  15. Automatically Annotated Mapping for Indoor Mobile Robot Applications

    DEFF Research Database (Denmark)

    Özkil, Ali Gürcan; Howard, Thomas J.

    2012-01-01

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

  16. Automatically Annotated Mapping for Indoor Mobile Robot Applications

    DEFF Research Database (Denmark)

    Özkil, Ali Gürcan; Howard, Thomas J.

    2012-01-01

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

  17. Robot

    OpenAIRE

    Flek, O.

    2015-01-01

    The objective of this paper is to design and produce a robot based on a four wheel chassis equipped with a robotic arm capable of manipulating small objects. The robot should be able to operate in an autonomous mode controlled by a microcontroller and in a mode controlled wirelessly by an operator in real time. Precision and accuracy of the robotic arm should be sufficient for the collection of small objects, such as syringes and needles. The entire robot should be easy to operate user-friend...

  18. Remote radioactive waste drum inspection with an autonomous mobile robot

    International Nuclear Information System (INIS)

    Heckendorn, F.M.; Ward, C.R.; Wagner, D.G.

    1992-01-01

    An autonomous mobile robot is being developed to perform remote surveillance and inspection task on large numbers of stored radioactive waste drums. The robot will be self guided through narrow storage aisles and record the visual image of each viewable drum for subsequent off line analysis and archiving. The system will remove the personnel from potential exposure to radiation, perform the require inspections, and improve the ability to assess the long term trends in drum conditions

  19. Calibration of ultrasonic sensors of a mobile robot

    Directory of Open Access Journals (Sweden)

    Paunović Ivan

    2009-01-01

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

  20. Rule-based Dynamic Safety Monitoring for Mobile Robots

    DEFF Research Database (Denmark)

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

    2016-01-01

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

  1. Efficient Control Law Simulation for Multiple Mobile Robots

    Energy Technology Data Exchange (ETDEWEB)

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

    1998-10-06

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

  2. Multi-Robot, Multi-Target Particle Swarm Optimization Search in Noisy Wireless Environments

    Energy Technology Data Exchange (ETDEWEB)

    Kurt Derr; Milos Manic

    2009-05-01

    Multiple small robots (swarms) can work together using Particle Swarm Optimization (PSO) to perform tasks that are difficult or impossible for a single robot to accomplish. The problem considered in this paper is exploration of an unknown environment with the goal of finding a target(s) at an unknown location(s) using multiple small mobile robots. This work demonstrates the use of a distributed PSO algorithm with a novel adaptive RSS weighting factor to guide robots for locating target(s) in high risk environments. The approach was developed and analyzed on multiple robot single and multiple target search. The approach was further enhanced by the multi-robot-multi-target search in noisy environments. The experimental results demonstrated how the availability of radio frequency signal can significantly affect robot search time to reach a target.

  3. Microcontroller-based mobile robot positioning and obstacle avoidance

    Directory of Open Access Journals (Sweden)

    Aziza M. Zaki

    2014-05-01

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

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

    Science.gov (United States)

    Almasri, Marwah; Elleithy, Khaled; Alajlan, Abrar

    2015-01-01

    Autonomous mobile robots have become a very popular and interesting topic in the last decade. Each of them are equipped with various types of sensors such as GPS, camera, infrared and ultrasonic sensors. These sensors are used to observe the surrounding environment. However, these sensors sometimes fail and have inaccurate readings. Therefore, the integration of sensor fusion will help to solve this dilemma and enhance the overall performance. This paper presents a collision free mobile robot navigation based on the fuzzy logic fusion model. Eight distance sensors and a range finder camera are used for the collision avoidance approach where three ground sensors are used for the line or path following approach. The fuzzy system is composed of nine inputs which are the eight distance sensors and the camera, two outputs which are the left and right velocities of the mobile robot’s wheels, and 24 fuzzy rules for the robot’s movement. Webots Pro simulator is used for modeling the environment and the robot. The proposed methodology, which includes the collision avoidance based on fuzzy logic fusion model and line following robot, has been implemented and tested through simulation and real time experiments. Various scenarios have been presented with static and dynamic obstacles using one robot and two robots while avoiding obstacles in different shapes and sizes. PMID:26712766

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

    Directory of Open Access Journals (Sweden)

    Marwah Almasri

    2015-12-01

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

  6. 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)

  7. Remarks on the classification of wheeled mobile robots

    Directory of Open Access Journals (Sweden)

    C. Gruber

    2016-04-01

    Full Text Available The subject of this work is modeling and classification of single-bodied wheeled mobile robots (WMRs. In the past, it was shown that the kinematics of each such robot can be modeled by one out of only five different generic models. However, the precise conditions under which a model is the proper description of the kinematic capabilities of a robot were not clear. These shortcomings are eliminated in this work, leading to a simple procedure for model selection. Additionally, a thorough analysis of the kinematic models and a classification of their singularities are presented.

  8. High Precision GNSS Guidance for Field Mobile Robots

    Directory of Open Access Journals (Sweden)

    Ladislav Jurišica

    2012-11-01

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

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

    Directory of Open Access Journals (Sweden)

    Belaidi Hadjira

    2017-01-01

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

  10. A Survey on Mobility Support in Wireless Body Area Networks

    Directory of Open Access Journals (Sweden)

    Beom-Su Kim

    2017-04-01

    Full Text Available Wireless Body Area Networks (WBANs have attracted research interests from the community, as more promising healthcare applications have a tendency to employ them as underlying network technology. While taking design issues, such as small size hardware as well as low power computing, into account, a lot of research has been proposed to accomplish the given tasks in WBAN. However, since most of the existing works are basically developed by assuming all nodes in the static state, these schemes therefore cannot be applied in real scenarios where network topology between sensor nodes changes frequently and unexpectedly according to human moving behavior. However, as far as the authors know, there is no survey paper to focus on research challenges for mobility support in WBAN yet. To address this deficiency, in this paper, we present the state-of-the-art approaches and discuss the important features of related to mobility in WBAN. We give an overview of mobility model and categorize the models as individual and group. Furthermore, an overview of networking techniques in the recent literature and summary are compiled for comparison in several aspects. The article also suggests potential directions for future research in the field.

  11. Use of agents to optimize traffic over wireless mobile connections

    Science.gov (United States)

    Helin, Mikko; Jarvinen, Jari; Kalliokorpi, Janne; Kolehmainen, Jari; Narikka, Jorma

    2002-08-01

    Wireless mobile connections have some well known disadvantages, like slow data rate, high and variable error-rate. In addition to that there are possible (and probable) inefficiencies when connecting different types of protocols stacks, like running TCP over GPRS. On the other hand mobile and portable devices have some limitations, which are based on their size and cannot therefore be removed totally. Potential users are so-called common people and they would like to have very simple-to-use applications solving their daily problems, not causing new ones. One approach to make this situation better is to use agents. They could operate on many different levels, like connecting different physical servers to produce the service needed, connecting different services together, optimizing for different types of user devices, connecting different message types (like audio, animation etc.) to produce the service, making transformations (like reading e-mails as voice mail etc.). This paper will discuss these various aspects of agent technology in the context of mobile services provided to consumers. Discussion and conclusions are partly based on the ZanderMail project. Although it is a mail agent project its results can easily be extended to various message types and various other services, like those based on the location of mobile device. The paper will cover widely these different ideas and ZanderMail is just used as an example and a tool for testing various issues. The idea is to utilize agents many ways to fade away at least partly those known problems mentioned in the beginning. An agent could operate in the network quite near the mobile device to overcome the problem caused by different protocol stacks. It could make logical decisions based on location and other local information, like weather, and it could handle priority issues on various levels of application(s).

  12. Module-based structure design of wheeled mobile robot

    Directory of Open Access Journals (Sweden)

    Z. Luo

    2018-02-01

    Full Text Available This paper proposes an innovative and systematic approach for synthesizing mechanical structures of wheeled mobile robots. The principle and terminologies used for the proposed synthesis method are presented by adopting the concept of modular design, isomorphic and non-isomorphic, and set theory with its associated combinatorial mathematics. The modular-based innovative synthesis and design of wheeled robots were conducted at two levels. Firstly at the module level, by creative design and analysing the structures of classic wheeled robots, a wheel module set containing four types of wheel mechanisms, a suspension module set consisting of five types of suspension frames and a chassis module set composed of five types of rigid or articulated chassis were designed and generalized. Secondly at the synthesis level, two kinds of structure synthesis modes, namely the isomorphic-combination mode and the non-isomorphic combination mode were proposed to synthesize mechanical structures of wheeled robots; which led to 241 structures for wheeled mobile robots including 236 novel ones. Further, mathematical models and a software platform were developed to provide appropriate and intuitive tools for simulating and evaluating performance of the wheeled robots that were proposed in this paper. Eventually, physical prototypes of sample wheeled robots/rovers were developed and tested so as to prove and validate the principle and methodology presented in this paper.

  13. Improvement of the operation of wheels mobile robot TRASMAR2

    International Nuclear Information System (INIS)

    Guerra C, D. A.; Tovar M, R.; Gonzalez M, J. L.; Segovia de los Rios, A.

    2013-10-01

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

  14. Design of a wireless anchoring and extending micro robot system for gastrointestinal tract.

    Science.gov (United States)

    Lin, Wei; Shi, Yuting; Jia, Zhiwei; Yan, Guozheng

    2013-06-01

    Diagnosis and treatment using a conventional endoscope in the gastrointestinal (GI) tract are very common nowadays. However, endoscopy has some disadvantages. This paper describes a wireless micro-robot for active locomotion in the GI tract. After design and analysis of the anchoring-extending gait, two mechanisms were developed to meet the gait requirements. These actuation and transmission mechanisms were demonstrated in detail to explain the gait implementation. The mechanisms were driven by a micro-brush direct current motor with a micro-normal module (m = 0.2 mm) gearbox. The force of the mechanisms was tested to guarantee the sufficiency of the gait and the safety of the robot. After mounting a dedicated video capture unit and wireless power receiving coils, in vitro experiments were conducted to show the feasibility of locomotion by wireless power supply. The assembled micro-robot was 13 mm in diameter and 90 mm in length, with a velocity of 1 mm/s at 500 mW power consumption. The proposed anchoring and extending intestinal micro-robot met the requirements of intestinal disease diagnosis and treatment. Copyright © 2012 John Wiley & Sons, Ltd.

  15. A Framework for Security Analysis of Mobile Wireless Networks

    DEFF Research Database (Denmark)

    Nanz, Sebastian; Hankin, Chris

    2006-01-01

    We present a framework for specification and security analysis of communication protocols for mobile wireless networks. This setting introduces new challenges which are not being addressed by classical protocol analysis techniques. The main complication stems from the fact that the actions...... processes and the network's connectivity graph, which may change independently from protocol actions. We identify a property characterising an important aspect of security in this setting and express it using behavioural equivalences of the calculus. We complement this approach with a control flow analysis...... of intermediate nodes and their connectivity can no longer be abstracted into a single unstructured adversarial environment as they form an inherent part of the system's security. In order to model this scenario faithfully, we present a broadcast calculus which makes a clear distinction between the protocol...

  16. Re-designing Retail Stores with Mobile and Wireless Technologies

    Directory of Open Access Journals (Sweden)

    Riccardo Mangiaracina

    2012-07-01

    Full Text Available Mobile and wireless (M&W technologies have great potential to improve process efficiency and effectiveness within retail stores, but their application is still very limited. One of the main reasons explaining this situation is considered to be the lack of confidence in the actual benefits and, therefore, in the return on investment. As a matter of facts, activities in this context are characterised by great variety and non‐standardised execution and as such the assessment of the costs and benefits of M&W solutions is more difficult than for the upstream tiers of the fast moving consumer goods supply chain (e.g., distribution centres. This paper attempts to provide a contribution for researchers and practitioners by presenting an analytical model to assess the profitability related to investments in multiple M&W solutions for retail stores, thus supporting the decision‐ making process.

  17. Web Environment for Programming and Control of a Mobile Robot in a Remote Laboratory

    Science.gov (United States)

    dos Santos Lopes, Maísa Soares; Gomes, Iago Pacheco; Trindade, Roque M. P.; da Silva, Alzira F.; de C. Lima, Antonio C.

    2017-01-01

    Remote robotics laboratories have been successfully used for engineering education. However, few of them use mobile robots to to teach computer science. This article describes a mobile robot Control and Programming Environment (CPE) and its pedagogical applications. The system comprises a remote laboratory for robotics, an online programming tool,…

  18. Development and implementation of algorithms in a population of cooperative autonomous mobile robots

    CSIR Research Space (South Africa)

    Namoshe, M

    2007-10-01

    Full Text Available for navigation. The main factor in multiple mobile robots is that a team of smaller and simpler mobile robots can outperform a single, large and complex robot. The paper treats localization and map building as a joint probability, that is while robots navigate...

  19. An Orientation Sensor for Mobile Robots Using Differentials

    Directory of Open Access Journals (Sweden)

    Wei-Chen Lee

    2013-02-01

    Full Text Available Without access to external guidance, such as landmarks or beacons, indoor mobile robots usually orientate themselves by using magnetic compasses or gyroscopes. However, compasses face interference from steel furniture, and gyroscopes suffer from zero drift errors. This paper proposes an orientation sensor that can be used on differentially driven mobile robots to resolve these issues. The sensor innovatively combines the general differentials and an optical encoder so that it can provide only the orientation information. Such a sensor has not been described in any known literature and is cost-efficient compared to the common method of using two encoders for differentially driven mobile robots. The kinematic analysis and the mechanical design of this sensor are presented in this paper. The maximum mean error of the proposed orientation sensor was about 0.7° during the component tests. The application of the sensor on a vacuum cleaning robot was also demonstrated. The use of the proposed sensor may provide less uncertain orientation data for an indoor differentially driven mobile robot.

  20. Functional recovery in the elderly after major surgery: assessment of mobility recovery using wireless technology.

    Science.gov (United States)

    Cook, David J; Thompson, Jeffrey E; Prinsen, Sharon K; Dearani, Joseph A; Deschamps, Claude

    2013-09-01

    Hospitalization and surgery in older patients often leads to a loss of strength, mobility, and functional capacity. We tested the hypothesis that wireless accelerometry could be used to measure mobility during hospital recovery after cardiac surgery. We used an off-the-shelf fitness monitor to measure daily mobility in patients after surgery. Data were transmitted wirelessly, aggregated, and configured onto a provider-viewable dashboard. Wireless monitoring of mobility after major surgery was easy and practical. There was a significant relationship between the number of steps taken in the early recovery period, length of stay, and dismissal disposition. Wireless monitoring of mobility after major surgery creates an opportunity for early identification and intervention in individual patients and could serve as a tool to evaluate and improve the process of care and to affect postdischarge outcomes. Copyright © 2013 The Society of Thoracic Surgeons. Published by Elsevier Inc. All rights reserved.

  1. Indoor Mobile Optical Wireless Antennas for Portable Devices

    Science.gov (United States)

    Challa, Syam Sundar

    A high demand for increasing need for bandwidth and data rates has paved way for optical fiber and optical wireless communications into last mile solutions for optical communications. This dissertation focuses on providing a solution to obtain Optical Wireless (OW) for indoor mobile portable devices. A new optical antenna model is proposed for such portable devices. Optical sweeping in 3D using Acousto Optics Cell Arrays (AOCAs) is proposed. This Opto-electronic method provides better coverage area for Line Of Sight optical link establishment and reconnection. The proposed method also has superior and precise beam divergence manipulation capabilities. Its geometry, coverage area and mobility are analyzed. Indoor dimensions of Height (5m), Width (20m), and Length (20m) are considered. The optical antenna can sweep through the hemispherical shape in the direction of optical beam focal plane using AOCAs. The link budget analysis is done using commercially available component ratings and the optical power for the entire coverage area of the optical antenna is found to be higher than the receiver's minimum sensitivity. The limitations on the nodes such as size and power consumption are studied and the model is designed to run efficiently on power ratings of the portable device battery. The proposed optical antenna can be fabricated in the form of a cube of size 2x2x2 mm. The optical power usage at any given time ranges from 50 mW to 0.5W. The bit error rates from SNR calculations are found to be around 10-10 at data rates of up to 4 Gbps. The Line of Sight (LOS) connection time and reestablishment time ranges from 4 to 7 mus depending on the AOCA process time. VCSEL transceiver optical characteristics are simulated to verify the validity of the model.

  2. Alcohol Assessment Among College Students Using Wireless Mobile Technology*

    Science.gov (United States)

    Bernhardt, Jay M.; Usdan, Stuart; Mays, Darren; Martin, Ryan; Cremeens, Jennifer; Arriola, Kimberly Jacob

    2009-01-01

    Objective: This study used a two-group randomized design to assess the validity of measuring self-reported alcohol consumption among college students using the Handheld Assisted Network Diary (HAND), a daily diary assessment administered using wireless mobile devices. Method: A convenience sample of college students was recruited at a large, public university in the southeastern United States and randomized into two groups. A randomly assigned group of 86 students completed the daily HAND assessment during the 30-day study and a Timeline Followback (TLFB) at 30-day follow-up. A randomly assigned group of 82 students completed the paper-and-pencil Daily Social Diary (DSD) over the same study period. Data from the daily HAND assessment were compared with the TLFB completed at follow-up by participants who completed the HAND using 95% limits of agreement analysis. Furthermore, individual growth models were used to examine differences between the HAND and DSD by comparing the total drinks, drinking days, and drinks per drinking day captured by the two assessments over the study period. Results: Results suggest that the HAND captured similar levels of alcohol use compared with the TLFB completed at follow-up by the same participants. In addition, comparisons of the two study groups suggest that, controlling for baseline alcohol use and demographics, the HAND assessment captured similar levels of total drinks, drinking days, and drinks per drinking day as the paper-and-pencil DSD. Conclusions: The study findings support the validity of wireless mobile devices as a daily assessment of alcohol use among college students. PMID:19737502

  3. Joint Mobile Data Collection and Wireless Energy Transfer in Wireless Rechargeable Sensor Networks.

    Science.gov (United States)

    Zhong, Ping; Li, Ya-Ting; Liu, Wei-Rong; Duan, Gui-Hua; Chen, Ying-Wen; Xiong, Neal

    2017-08-16

    In wireless rechargeable sensor networks (WRSNs), there is a way to use mobile vehicles to charge node and collect data. It is a rational pattern to use two types of vehicles, one is for energy charging, and the other is for data collecting. These two types of vehicles, data collection vehicles (DCVs) and wireless charging vehicles (WCVs), are employed to achieve high efficiency in both data gathering and energy consumption. To handle the complex scheduling problem of multiple vehicles in large-scale networks, a twice-partition algorithm based on center points is proposed to divide the network into several parts. In addition, an anchor selection algorithm based on the tradeoff between neighbor amount and residual energy, named AS-NAE, is proposed to collect the zonal data. It can reduce the data transmission delay and the energy consumption for DCVs' movement in the zonal. Besides, we design an optimization function to achieve maximum data throughput by adjusting data rate and link rate of each node. Finally, the effectiveness of proposed algorithm is validated by numerical simulation results in WRSNs.

  4. Field tests of the mobile robot Sherpa

    International Nuclear Information System (INIS)

    Beaucourt, P. de; Garrec, P.; Morganti, P.; Lucibello, P.; Nobile, M.

    1995-01-01

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

  5. Field tests of the mobile robot Sherpa

    Energy Technology Data Exchange (ETDEWEB)

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

    1995-12-31

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

  6. Experimentation and concept formation by an autonomous mobile robot

    Energy Technology Data Exchange (ETDEWEB)

    Spelt, P.F.; deSaussure, G.; Oliver, G.; Silliman, M.

    1990-01-01

    The Center for Engineering Systems Advanced Research (CESAR) conducts basic research in the area of intelligent machines. In this paper, we describe our approach to a class of machine learning which involves autonomous concept formation using feedback from trial-and-error experimentation with the environment. Our formulation was experimentally validated on an autonomous mobile robot, which learned the task of control panel monitoring and manipulation for effective process control. Conclusions are drawn concerning the applicability of the system to a more general class of learning problems, and implications for the use of autonomous mobile robots in hostile and unknown environments are discussed. 11 refs., 7 figs.

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

    Science.gov (United States)

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

    2016-01-01

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

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

    Science.gov (United States)

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

    2016-01-01

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

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

    DEFF Research Database (Denmark)

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

    2012-01-01

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

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

    OpenAIRE

    寺井, 智史

    2016-01-01

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

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

    Energy Technology Data Exchange (ETDEWEB)

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

    1998-04-01

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

  12. Tactical mobile robots for urban search and rescue

    Science.gov (United States)

    Blitch, John; Sidki, Nahid; Durkin, Tim

    2000-07-01

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

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2012-03-15

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

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

    International Nuclear Information System (INIS)

    Kim, Hyo Joong; Cho, Chang Nho; Kim, Hwi Su; Song, Jae Bok

    2012-01-01

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

  15. 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.

  16. Soft mobile robots driven by foldable dielectric elastomer actuators

    Energy Technology Data Exchange (ETDEWEB)

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

    2016-08-28

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

  17. Maximizing Lifetime of Wireless Sensor Networks with Mobile Sink Nodes

    Directory of Open Access Journals (Sweden)

    Yourong Chen

    2014-01-01

    Full Text Available In order to maximize network lifetime and balance energy consumption when sink nodes can move, maximizing lifetime of wireless sensor networks with mobile sink nodes (MLMS is researched. The movement path selection method of sink nodes is proposed. Modified subtractive clustering method, k-means method, and nearest neighbor interpolation method are used to obtain the movement paths. The lifetime optimization model is established under flow constraint, energy consumption constraint, link transmission constraint, and other constraints. The model is solved from the perspective of static and mobile data gathering of sink nodes. Subgradient method is used to solve the lifetime optimization model when one sink node stays at one anchor location. Geometric method is used to evaluate the amount of gathering data when sink nodes are moving. Finally, all sensor nodes transmit data according to the optimal data transmission scheme. Sink nodes gather the data along the shortest movement paths. Simulation results show that MLMS can prolong network lifetime, balance node energy consumption, and reduce data gathering latency under appropriate parameters. Under certain conditions, it outperforms Ratio_w, TPGF, RCC, and GRND.

  18. Tantalisingly Close: An Archaeology of Communication Desires in Discourses of Mobile Wireless Media

    NARCIS (Netherlands)

    de Vries, I.O.

    2008-01-01

    While many studies on mobile wireless communication devices predominantly take a micro-scale approach and concentrate their often ethnographically informed focus on use values, social implications, conversation strategies, changing norms and ethics, culture-dependent domestication, and so forth,

  19. Performance Analysis of Mobile Agents for Filtering Data Streams on Wireless Networks

    National Research Council Canada - National Science Library

    Kotz, David; Cybenko, George; Gray, Robert S; Jiang, Guofei; Peterson, Ronald A; Hofmann, Martin O; Chacon, Daria A; Whitebread, Kenneth R; Hendler, James

    2002-01-01

    .... In this paper we examine the tradeoffs faced when deciding whether to use mobile agents in a data-filtering application where numerous wireless clients filter information from a large data stream...

  20. Scheduling a Single Mobile Robot Incorporated into Production Environment

    DEFF Research Database (Denmark)

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

    2013-01-01

    Eco-production and logistics with environmental consciousness are playing a larger role in manufacturing firms. They involve scheduling, planning, developing and implementing manufacturing processes and technologies that are required not only to keep productivity high but also to respond....... This chapter deals with the problem of finding optimal operating sequence in a manufacturing cell of a mobile robot with manipulation arm that feeds materials to feeders. The “Bartender Concept” is discussed to show the cooperation between the mobile robot and industrial environment. The performance criterion...... is to minimize total traveling time of the robot with the smallest consumed amount of battery energy in a given planning horizon. A mixed-integer programming (MIP) model is developed to find the optimal solutions for the problem. Two case studies are implemented at an impeller production line to demonstrate...

  1. Mobile robot localization based on fixation vision geometric constraint

    Science.gov (United States)

    Li, Xiao; Zhang, Hongyue

    2003-09-01

    This paper presents a feasible algorithm for mobile robot localization. Localization system is composed of an encoder, an electronical compass, a fixation vision system including a CCD camera and a stepping motor. Multisensor information fusion technology, extended information filter, is adopted for estimating the position and heading of robot. New measurement equation which is based on fixation vision geometric constraint is proposed in this paper. The coordinates of the landmark is not needed to know in this method, in other words, any point in the observed scene can be selected as a landmark. The results of simulation show the algorithm validity. The comparative results show this algorithm has advantage in autonomous mobile robot localization application than Dead-Reckoning.

  2. Control of a mobile robot through brain computer interface

    Directory of Open Access Journals (Sweden)

    Robinson Jimenez Moreno

    2015-07-01

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

  3. Autonomous navigation system for mobile robots of inspection

    International Nuclear Information System (INIS)

    Angulo S, P.; Segovia de los Rios, A.

    2005-01-01

    One of the goals in robotics is the human personnel's protection that work in dangerous areas or of difficult access, such it is the case of the nuclear industry where exist areas that, for their own nature, they are inaccessible for the human personnel, such as areas with high radiation level or high temperatures; it is in these cases where it is indispensable the use of an inspection system that is able to carry out a sampling of the area in order to determine if this areas can be accessible for the human personnel. In this situation it is possible to use an inspection system based on a mobile robot, of preference of autonomous navigation, for the realization of such inspection avoiding by this way the human personnel's exposure. The present work proposes a model of autonomous navigation for a mobile robot Pioneer 2-D Xe based on the algorithm of wall following using the paradigm of fuzzy logic. (Author)

  4. Integrated Control Strategies Supporting Autonomous Functionalities in Mobile Robots

    Directory of Open Access Journals (Sweden)

    Brandon Sights

    2006-10-01

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

  5. 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

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

    International Nuclear Information System (INIS)

    Meieran, H.B.

    1990-01-01

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

  7. Tracking control of mobile robots: a case study in backstepping

    NARCIS (Netherlands)

    Jiang, Zhong-Ping; Nijmeijer, Henk

    1997-01-01

    A tracking control methodology via time-varying state feedback based on the backstepping technique is proposed for both a kinematic and simplified dynamic model of a two-degrees-of-freedom mobile robot. We first address the local tracking problem where initial tracking errors are sufficiently small.

  8. Learning feedforward controller for a mobile robot vehicle

    NARCIS (Netherlands)

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

    1996-01-01

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

  9. 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...

  10. Is the Mobile Phone a Personalized Social Robot?

    Directory of Open Access Journals (Sweden)

    Jane Vincent

    2013-01-01

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

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

    DEFF Research Database (Denmark)

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

    2005-01-01

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

  12. 3D Stereo Visualization for Mobile Robot Tele-Guide

    DEFF Research Database (Denmark)

    Livatino, Salvatore

    2006-01-01

    learning and decision performance. Works in the literature have demonstrated how stereo vision contributes to improve perception of some depth cues often for abstract tasks, while little can be found about the advantages of stereoscopic visualization in mobile robot tele-guide applications. This work...

  13. Extended Kalman Filtering and Pathloss modeling for Shadow Power Parameter Estimation in Mobile Wireless Communications

    OpenAIRE

    P. Pappas, George; A. Zohdy, Mohamed

    2017-01-01

    In this paper accurate estimation of parameters, higher order state space prediction methods and Extended Kalman filter (EKF) for modeling shadow power in wireless mobile communications are developed. Path-loss parameter estimation models are compared and evaluated. Shadow power estimation methods in wireless cellular communications are very important for use in power control of mobile device and base station. The methods are validated and compared to existing methods, Kalman Filter (KF) with...

  14. A Social Potential Fields Approach for Self-Deployment and Self-Healing in Hierarchical Mobile Wireless Sensor Networks

    Directory of Open Access Journals (Sweden)

    Eva González-Parada

    2017-01-01

    Full Text Available Autonomous mobile nodes in mobile wireless sensor networks (MWSN allow self-deployment and self-healing. In both cases, the goals are: (i to achieve adequate coverage; and (ii to extend network life. In dynamic environments, nodes may use reactive algorithms so that each node locally decides when and where to move. This paper presents a behavior-based deployment and self-healing algorithm based on the social potential fields algorithm. In the proposed algorithm, nodes are attached to low cost robots to autonomously navigate in the coverage area. The proposed algorithm has been tested in environments with and without obstacles. Our study also analyzes the differences between non-hierarchical and hierarchical routing configurations in terms of network life and coverage.

  15. A Social Potential Fields Approach for Self-Deployment and Self-Healing in Hierarchical Mobile Wireless Sensor Networks.

    Science.gov (United States)

    González-Parada, Eva; Cano-García, Jose; Aguilera, Francisco; Sandoval, Francisco; Urdiales, Cristina

    2017-01-09

    Autonomous mobile nodes in mobile wireless sensor networks (MWSN) allow self-deployment and self-healing. In both cases, the goals are: (i) to achieve adequate coverage; and (ii) to extend network life. In dynamic environments, nodes may use reactive algorithms so that each node locally decides when and where to move. This paper presents a behavior-based deployment and self-healing algorithm based on the social potential fields algorithm. In the proposed algorithm, nodes are attached to low cost robots to autonomously navigate in the coverage area. The proposed algorithm has been tested in environments with and without obstacles. Our study also analyzes the differences between non-hierarchical and hierarchical routing configurations in terms of network life and coverage.

  16. Automatic Welding System Using Speed Controllable Autonomous Mobile Robot

    Science.gov (United States)

    Kim, Taewon; Suto, Takeshi; Kobayashi, Junya; Kim, Jongcheol; Suga, Yasuo

    A prototype of autonomous mobile robot with two vision sensors for automatic welding of steel plates was constructed. The robot can move straight, steer and turn around the robot center by controlling the driving speed of the two wheels respectively. At the tip of the movable arm, two CCD cameras are fixed. A local camera observes the welding line near the welding torch and another wide camera observes relatively wide area in front of the welding part. The robot controls the traveling speed in accordance with the shape of the welding line. In the case of straight welding line, the speed of the robot is accelerated and the welding efficiency is improved. However, if the robot finds a corner of welding line, the speed is decelerated in order to realize the precise seam tracking and stable welding. Therefore, the robot can realize precise and high speed seam-tracking by controlling the travel speed. The effectiveness of the control system is confirmed by welding experiments.

  17. Distributed Receding Horizon Coverage Control by Multiple Mobile Robots

    Directory of Open Access Journals (Sweden)

    Fatemeh Mohseni

    2013-09-01

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

  18. Emergency response mobile robot for operations in combustible atmospheres

    Science.gov (United States)

    Stone, Henry W. (Inventor); Ohm, Timothy R. (Inventor)

    1995-01-01

    A mobile, self-powered, self-contained, and remote-controlled robot is presented. The robot is capable of safely operating in a combustible atmosphere and providing information about the atmosphere to the operator. The robot includes non-sparking and non-arcing electro-mechanical and electronic components designed to prevent the robot from igniting the combustible atmosphere. The robot also includes positively pressurized enclosures that house the electromechanical and electronic components of the robot and prevent intrusion of the combustible atmosphere into the enclosures. The enclosures are interconnected such that a pressurized gas injected into any one of the enclosures is routed to all the other enclosures through the interconnections. It is preferred that one or more sealed internal channels through structures intervening between the enclosures be employed. Pressure transducers for detecting if the pressure within the enclosures falls below a predetermined level are included. The robot also has a sensing device for determining the types of combustible substances in the surrounding atmosphere, as well as the concentrations of each type of substance relative to a pre-determined lower explosive limit (LEL). In addition, the sensing device can determine the percent level of oxygen present in the surrounding atmosphere.

  19. Mobile app for human-interaction with sitter robots

    Science.gov (United States)

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

    2017-05-01

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

  20. System safety analysis of an autonomous mobile robot

    Energy Technology Data Exchange (ETDEWEB)

    Bartos, R.J.

    1994-08-01

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

  1. System safety analysis of an autonomous mobile robot

    International Nuclear Information System (INIS)

    Bartos, R.J.

    1994-01-01

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

  2. Mobile robotics for CANDU reactor maintenance: case studies and near-term improvements

    International Nuclear Information System (INIS)

    Lipsett, M. G.; Rody, K.H.

    1995-01-01

    Although robotics researchers have been promising that robotics would soon be performing tasks in hazardous environments, the reality has yet to live up to the hype. The presently available crop of robots suitable for deployment in industrial situations are remotely operated, requiring skilled users. This talk describes cases where mobile robots have been used successfully in CANDU stations, discusses the difficulties in using mobile robots for reactor maintenance, and provides near-term goals for achievable improvements in performance and usefulness. (author)

  3. Secure, Mobile, Wireless Network Technology Designed, Developed, and Demonstrated

    Science.gov (United States)

    Ivancic, William D.; Paulsen, Phillip E.

    2004-01-01

    The inability to seamlessly disseminate data securely over a high-integrity, wireless broadband network has been identified as a primary technical barrier to providing an order-of-magnitude increase in aviation capacity and safety. Secure, autonomous communications to and from aircraft will enable advanced, automated, data-intensive air traffic management concepts, increase National Air Space (NAS) capacity, and potentially reduce the overall cost of air travel operations. For the first time ever, secure, mobile, network technology was designed, developed, and demonstrated with state-ofthe- art protocols and applications by a diverse, cooperative Government-industry team led by the NASA Glenn Research Center. This revolutionary technology solution will make fundamentally new airplane system capabilities possible by enabling secure, seamless network connections from platforms in motion (e.g., cars, ships, aircraft, and satellites) to existing terrestrial systems without the need for manual reconfiguration. Called Mobile Router, the new technology autonomously connects and configures networks as they traverse from one operating theater to another. The Mobile Router demonstration aboard the Neah Bay, a U.S. Coast Guard vessel stationed in Cleveland, Ohio, accomplished secure, seamless interoperability of mobile network systems across multiple domains without manual system reconfiguration. The Neah Bay was chosen because of its low cost and communications mission similarity to low-Earth-orbiting satellite platforms. This technology was successfully advanced from technology readiness level (TRL) 2 (concept and/or application formation) to TRL 6 (system model or prototype demonstration in a relevant environment). The secure, seamless interoperability offered by the Mobile Router and encryption device will enable several new, vehicle-specific and systemwide technologies to perform such things as remote, autonomous aircraft performance monitoring and early detection and

  4. [Research on WiFi-based wireless microscopy on a mobile phone and its application].

    Science.gov (United States)

    Hailan, Jin; Jing, Liu

    2012-11-01

    We proposed and realized a new device that acquires microscopic image wirelessly based on mobile phone and WiFi system. The mobile terminals could record, display and store the image from the far end via the wireless LAN. Using this system, a series of conceptual experiments on monitoring the microscopic images of common objects and liver cancer cells were successfully demonstrated. This system is expected to have important value in the experimental investigations on wirelessly monitoring the cell culture, and small insect etc.

  5. Intelligent control and cooperation for mobile robots

    Science.gov (United States)

    Stingu, Petru Emanuel

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

  6. Implementation issues for mobile-wireless infrastructure and mobile health care computing devices for a hospital ward setting.

    Science.gov (United States)

    Heslop, Liza; Weeding, Stephen; Dawson, Linda; Fisher, Julie; Howard, Andrew

    2010-08-01

    mWard is a project whose purpose is to enhance existing clinical and administrative decision support and to consider mobile computers, connected via wireless network, for bringing clinical information to the point of care. The mWard project allowed a limited number of users to test and evaluate a selected range of mobile-wireless infrastructure and mobile health care computing devices at the neuroscience ward at Southern Health's Monash Medical Centre, Victoria, Australia. Before the project commenced, the ward had two PC's which were used as terminals by all ward-based staff and numerous multi-disciplinary staff who visited the ward each day. The first stage of the research, outlined in this paper, evaluates a selected range of mobile-wireless infrastructure.

  7. Omnidirectional Mobile Robot - Design and Implementation

    OpenAIRE

    Doroftei, Ioan; Grosu, Victor; Spinu, Veaceslav

    2007-01-01

    Omnidirectional vehicles have great advantages over conventional (non-holonomic) platforms, with car-like Ackerman steering or differential drive system, for moving in tight areas. They can crab sideways, turn on the spot, and follow complex trajectories. These robots are capable of easily performing tasks in environments with static and dynamic obstacles and narrow aisles. Such environments are commonly found in factory workshop offices, warehouses, hospitals, etc. Flexible material handling...

  8. A natural-language interface to a mobile robot

    Science.gov (United States)

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

    1987-01-01

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

  9. Improving mobile robot localization: grid-based approach

    Science.gov (United States)

    Yan, Junchi

    2012-02-01

    Autonomous mobile robots have been widely studied not only as advanced facilities for industrial and daily life automation, but also as a testbed in robotics competitions for extending the frontier of current artificial intelligence. In many of such contests, the robot is supposed to navigate on the ground with a grid layout. Based on this observation, we present a localization error correction method by exploring the geometric feature of the tile patterns. On top of the classical inertia-based positioning, our approach employs three fiber-optic sensors that are assembled under the bottom of the robot, presenting an equilateral triangle layout. The sensor apparatus, together with the proposed supporting algorithm, are designed to detect a line's direction (vertical or horizontal) by monitoring the grid crossing events. As a result, the line coordinate information can be fused to rectify the cumulative localization deviation from inertia positioning. The proposed method is analyzed theoretically in terms of its error bound and also has been implemented and tested on a customary developed two-wheel autonomous mobile robot.

  10. Design and Analysis of a Dynamic Mobility Management Scheme for Wireless Mesh Network

    Directory of Open Access Journals (Sweden)

    Abhishek Majumder

    2013-01-01

    Full Text Available Seamless mobility management of the mesh clients (MCs in wireless mesh network (WMN has drawn a lot of attention from the research community. A number of mobility management schemes such as mesh network with mobility management (MEMO, mesh mobility management (M3, and wireless mesh mobility management (WMM have been proposed. The common problem with these schemes is that they impose uniform criteria on all the MCs for sending route update message irrespective of their distinct characteristics. This paper proposes a session-to-mobility ratio (SMR based dynamic mobility management scheme for handling both internet and intranet traffic. To reduce the total communication cost, this scheme considers each MC’s session and mobility characteristics by dynamically determining optimal threshold SMR value for each MC. A numerical analysis of the proposed scheme has been carried out. Comparison with other schemes shows that the proposed scheme outperforms MEMO, M3, and WMM with respect to total cost.

  11. Design and analysis of a dynamic mobility management scheme for wireless mesh network.

    Science.gov (United States)

    Majumder, Abhishek; Roy, Sudipta

    2013-01-01

    Seamless mobility management of the mesh clients (MCs) in wireless mesh network (WMN) has drawn a lot of attention from the research community. A number of mobility management schemes such as mesh network with mobility management (MEMO), mesh mobility management (M(3)), and wireless mesh mobility management (WMM) have been proposed. The common problem with these schemes is that they impose uniform criteria on all the MCs for sending route update message irrespective of their distinct characteristics. This paper proposes a session-to-mobility ratio (SMR) based dynamic mobility management scheme for handling both internet and intranet traffic. To reduce the total communication cost, this scheme considers each MC's session and mobility characteristics by dynamically determining optimal threshold SMR value for each MC. A numerical analysis of the proposed scheme has been carried out. Comparison with other schemes shows that the proposed scheme outperforms MEMO, M(3), and WMM with respect to total cost.

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

    Directory of Open Access Journals (Sweden)

    S. Parasuraman, V.Ganapathy

    2012-10-01

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

  13. Accessing data transfer reliability for duty cycled mobile wireless sensor network

    International Nuclear Information System (INIS)

    Shaikh, F.K.

    2014-01-01

    Mobility in WSNs (Wireless Sensor Networks) introduces significant challenges which do not arise in static WSNs. Reliable data transport is an important aspect of attaining consistency and QoS (Quality of Service) in several applications of MWSNs (Mobile Wireless Sensor Networks). It is important to understand how each of the wireless sensor networking characteristics such as duty cycling, collisions, contention and mobility affects the reliability of data transfer. If reliability is not managed well, the MWSN can suffer from overheads which reduce its applicability in the real world. In this paper, reliability assessment is being studied by deploying MWSN in different indoor and outdoor scenarios with various duty cycles of the motes and speeds of the mobile mote. Results show that the reliability is greatly affected by the duty cycled motes and the mobility using inherent broadcast mechanisms. (author)

  14. Precise Localization and Formation Control of Swarm Robots via Wireless Sensor Networks

    Directory of Open Access Journals (Sweden)

    Han Wu

    2014-01-01

    Full Text Available Precise localization and formation control are one of the key technologies to achieve coordination and control of swarm robots, which is also currently a bottleneck for practical applications of swarm robotic systems. Aiming at overcoming the limited individual perception and the difficulty of achieving precise localization and formation, a localization approach combining dead reckoning (DR with wireless sensor network- (WSN- based methods is proposed in this paper. Two kinds of WSN localization technologies are adopted in this paper, that is, ZigBee-based RSSI (received signal strength indication global localization and electronic tag floors for calibration of local positioning. First, the DR localization information is combined with the ZigBee-based RSSI position information using the Kalman filter method to achieve precise global localization and maintain the robot formation. Then the electronic tag floors provide the robots with their precise coordinates in some local areas and enable the robot swarm to calibrate its formation by reducing the accumulated position errors. Hence, the overall performance of localization and formation control of the swarm robotic system is improved. Both of the simulation results and the experimental results on a real schematic system are given to demonstrate the success of the proposed approach.

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

    Directory of Open Access Journals (Sweden)

    Y. A. Kapitanyuk

    2014-03-01

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

  16. A Qualitative Approach to Mobile Robot Navigation Using RFID

    International Nuclear Information System (INIS)

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

    2013-01-01

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

  17. A Taxonomy of Vision Systems for Ground Mobile Robots

    Directory of Open Access Journals (Sweden)

    Jesus Martinez-Gomez

    2014-07-01

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

  18. Distributed cooperating processes in a mobile robot control system

    Science.gov (United States)

    Skillman, Thomas L., Jr.

    1988-01-01

    A mobile inspection robot has been proposed for the NASA Space Station. It will be a free flying autonomous vehicle that will leave a berthing unit to accomplish a variety of inspection tasks around the Space Station, and then return to its berth to recharge, refuel, and transfer information. The Flying Eye robot will receive voice communication to change its attitude, move at a constant velocity, and move to a predefined location along a self generated path. This mobile robot control system requires integration of traditional command and control techniques with a number of AI technologies. Speech recognition, natural language understanding, task and path planning, sensory abstraction and pattern recognition are all required for successful implementation. The interface between the traditional numeric control techniques and the symbolic processing to the AI technologies must be developed, and a distributed computing approach will be needed to meet the real time computing requirements. To study the integration of the elements of this project, a novel mobile robot control architecture and simulation based on the blackboard architecture was developed. The control system operation and structure is discussed.

  19. R&D on wireless broadband communication systems: new generation ubiquitous mobile network

    Science.gov (United States)

    Ogawa, Hiroyo

    2007-09-01

    R&D on new generation mobile network has attracted a growing interest over the world on the background of rapid market growth for 2nd and 3rd - generation cellular networks and wireless LANs/MANs. The National Institute of Information and Communications Technology (NICT) has been carried out the New Generation Mobile Network Project from April 2002 to March 2006, and has developed fundamental technologies to enable seamless and secure integration of various wireless access networks such as existing cellular networks, wireless LANs, home networks, intelligent transport systems (ITS), the Beyond-3G (B3G) cellular and other wireless access systems. From April 2006, Ubiquitous Mobile Network project focused on cognitive radio technology and integrated seamless networking technology was started. This paper overviews the achievement and the future plan of these projects.

  20. Analysis of Blocking Rate and Bandwidth Usage of Mobile IPTV Services in Wireless Cellular Networks

    Directory of Open Access Journals (Sweden)

    Mingfu Li

    2014-01-01

    Full Text Available Mobile IPTV services over wireless cellular networks become more and more popular, owing to the significant growth in access bandwidth of wireless cellular networks such as 3G/4G and WiMAX. However, the spectrum resources of wireless cellular networks is rare. How to enhance the spectral efficiency of mobile networks becomes an important issue. Unicast, broadcast, and multicast are the most important transport schemes for offering mobile IPTV services over wireless cellular networks. Therefore, bandwidth usages and blocking rates of unicast, broadcast, and multicast IPTV services were analyzed and compared in this paper. Simulations were also conducted to validate the analytical results. Numerical results demonstrate that the presented analysis is correct, and multicast scheme achieves the best bandwidth usage and blocking rate performance, relative to the other two schemes.

  1. Analysis of blocking rate and bandwidth usage of mobile IPTV services in wireless cellular networks.

    Science.gov (United States)

    Li, Mingfu

    2014-01-01

    Mobile IPTV services over wireless cellular networks become more and more popular, owing to the significant growth in access bandwidth of wireless cellular networks such as 3G/4G and WiMAX. However, the spectrum resources of wireless cellular networks is rare. How to enhance the spectral efficiency of mobile networks becomes an important issue. Unicast, broadcast, and multicast are the most important transport schemes for offering mobile IPTV services over wireless cellular networks. Therefore, bandwidth usages and blocking rates of unicast, broadcast, and multicast IPTV services were analyzed and compared in this paper. Simulations were also conducted to validate the analytical results. Numerical results demonstrate that the presented analysis is correct, and multicast scheme achieves the best bandwidth usage and blocking rate performance, relative to the other two schemes.

  2. Enhanced Security and Pairing-free Handover Authentication Scheme for Mobile Wireless Networks

    Science.gov (United States)

    Chen, Rui; Shu, Guangqiang; Chen, Peng; Zhang, Lijun

    2017-10-01

    With the widely deployment of mobile wireless networks, we aim to propose a secure and seamless handover authentication scheme that allows users to roam freely in wireless networks without worrying about security and privacy issues. Given the open characteristic of wireless networks, safety and efficiency should be considered seriously. Several previous protocols are designed based on a bilinear pairing mapping, which is time-consuming and inefficient work, as well as unsuitable for practical situations. To address these issues, we designed a new pairing-free handover authentication scheme for mobile wireless networks. This scheme is an effective improvement of the protocol by Xu et al., which is suffer from the mobile node impersonation attack. Security analysis and simulation experiment indicate that the proposed protocol has many excellent security properties when compared with other recent similar handover schemes, such as mutual authentication and resistance to known network threats, as well as requiring lower computation and communication cost.

  3. A mobile-agent based wireless sensing network for structural monitoring applications

    Energy Technology Data Exchange (ETDEWEB)

    Taylor, Stuart G [Los Alamos National Laboratory; Farinholt, Kevin M [Los Alamos National Laboratory; Figueiredo, Eloi [Los Alamos National Laboratory; Park, Gyuhae [Los Alamos National Laboratory; Farrar, Charles R [Los Alamos National Laboratory; Flynn, Eric B [UCSD; Mascarenas, David L [UCSD; Todd, Michael D [UCSD

    2008-01-01

    A new wireless sensing network paradigm is presented for structural monitoring applications. In this approach, both power and data interrogation commands are conveyed via a mobile agent that is sent to sensor nodes to perform intended interrogations, which can alleviate several limitations of the traditional sensing networks. Furthermore, the mobile agent provides computational power to make near real-time assessments on the structural conditions. This paper will discuss such prototype systems, which are used to interrogate impedance-based sensors for structural health monitoring applications. Our wireless sensor node is specifically designed to accept various energy sources, including wireless energy transmission, and to be wirelessly triggered on an as-needed basis by the mobile agent or other sensor nodes. The capabilities of this proposed sensing network paradigm are demonstrated in the laboratory and the field.

  4. Cooperative robots and sensor networks 2014

    CERN Document Server

    Khelil, Abdelmajid

    2014-01-01

    This book is the second volume on Cooperative Robots and Sensor Networks. The primary objective of this book is to provide an up-to-date reference for cutting-edge studies and research trends related to mobile robots and wireless sensor networks, and in particular for the coupling between them. Indeed, mobile robots and wireless sensor networks have enabled great potentials and a large space for ubiquitous and pervasive applications. Robotics and wireless sensor networks have mostly been considered as separate research fields and little work has investigated the marriage between these two technologies. However, these two technologies share several features, enable common cyber-physical applications and provide complementary support to each other. The book consists of ten chapters, organized into four parts. The first part of the book presents three chapters related to localization of mobile robots using wireless sensor networks. Two chapters presented new solutions based Extended Kalman Filter and Particle Fi...

  5. 78 FR 43262 - Use of Wireless Mobile Data Devices as Transponders for the Commercial Motor Vehicle Information...

    Science.gov (United States)

    2013-07-19

    ... Federal Motor Carrier Safety Administration Use of Wireless Mobile Data Devices as Transponders for the... may now use available CMRS networks to screen trucks equipped with wireless mobile data devices used... transponders use commercially available mobile radio transmission frequencies to access cellular data networks...

  6. Social-Driven Information Dissemination for Mobile Wireless Sensor Networks

    Directory of Open Access Journals (Sweden)

    Basim MAHMOOD

    2015-06-01

    Full Text Available As we move into the so-called Internet of Things (IoT, the boundary between sensor networks and social networks is likely to disappear. Moreover, previous works argue that mobility in sensor networks may become a consequence of human movement making the understanding of human mobility crucial to the design of sensor networks. When people carry sensors, they become able to use concepts from social networks in the design of sensor network infrastructures. However, to this date, the utilization of social networks in designing protocols for wireless sensor networks has not received much attention. In this paper, we focus on the concept of information dissemination in a framework where sensors are carried by people who, like most of us, are part of a social network. We propose two social-based forwarding approaches for what has been called Social Network of Sensors (SNoS. To this end, we exploit two important characteristics of ties in social networks, namely strong ties and weak ties. The former is used to achieve rapid dissemination to nearby sensors while the latter aims at dissemination to faraway sensors. We compared our results against two well-known approaches in the literature: Epidemic and PRoPHET protocols. We evaluate our approaches according to four criteria: information-dissemination distance, information-dissemination coverage area, the number of messages exchanged, and information delivery time. We believe this is the first work that investigates the issues of information-dissemination distance and information-dissemination coverage area using an approach inspired on social network concepts.

  7. Hybrid Control Design for a Wheeled Mobile Robot

    DEFF Research Database (Denmark)

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

    2003-01-01

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

  8. An autonomous mobil robot to perform waste drum inspections

    International Nuclear Information System (INIS)

    Peterson, K.D.; Ward, C.R.

    1994-01-01

    A mobile robot is being developed by the Savannah River Technology Center (SRTC) Robotics Group of Westinghouse Savannah River company (WSRC) to perform mandated inspections of waste drums stored in warehouse facilities. The system will reduce personnel exposure and create accurate, high quality documentation to ensure regulatory compliance. Development work is being coordinated among several DOE, academic and commercial entities in accordance with DOE's technology transfer initiative. The prototype system was demonstrated in November of 1993. A system is now being developed for field trails at the Fernald site

  9. 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

  10. BellBot - A Hotel Assistant System Using Mobile Robots

    Directory of Open Access Journals (Sweden)

    Joaquín López

    2013-01-01

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

  11. Pengendali Mobile Robot Melalui Bluetooth Berbasis Mikrokontroler AVR ATmega8 Dilengkapi Lengan dan Kamera

    Directory of Open Access Journals (Sweden)

    Obed Bettuang

    2015-10-01

    Full Text Available Mobile robot adalah robot yang dapat bergerak atau berpindah tempat dengan menggunakan roda serta dapat dikendalikan secara otomatis maupun manual. Teknologi bluetooth dapat dimanfaatkan untuk mengendalikan mobile robot secara manual. Bluetooth yang dipakai menggunakan bluetooth serial HC-07. Setiap pergerakan mobile robot dikendalikan melalui Laptop dengan cara mengirimkan karakter tertentu dari keyboard Laptop. Driver motor menggunakan IC L293D dengan arus output maksimal 1,2 Ampere. Mikrokontroler ATmega8 dapat mengolah data yang diterima bluetooth serial HC-07 sehingga dapat mengendalikan mobile robot bergerak maju, mundur, belok kanan, belok kiri, stop, mengerakkan lengan secara otomatis dan manual, serta menampilkan setiap data instuksi ke dalam LCD.

  12. Embodied Computation: An Active-Learning Approach to Mobile Robotics Education

    Science.gov (United States)

    Riek, L. D.

    2013-01-01

    This paper describes a newly designed upper-level undergraduate and graduate course, Autonomous Mobile Robots. The course employs active, cooperative, problem-based learning and is grounded in the fundamental computational problems in mobile robotics defined by Dudek and Jenkin. Students receive a broad survey of robotics through lectures, weekly…

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

    CSIR Research Space (South Africa)

    Green, J

    2011-09-01

    Full Text Available an expanding market. Keywords- mining robots; robot competition; academic competitions; ROBMECH 2011 I. INTRODUCTION Competitions form a valuable tool for academic institutions in directing their research and scholarly endeavours. They provide clear.... Technology forms a significant portion of this vision, and automation and remote control comprises one of three focus areas. The end goal is a mine where intelligent autonomous robots are standard and intelligent machines perform the activities...

  14. Mobile robots and remote systems in nuclear applications

    International Nuclear Information System (INIS)

    Segovia de los Rios, J. A.; Benitez R, J. S.

    2010-01-01

    Traditionally, the robots have been used in the industry for the colored to the spray, welding, schemed, assemble and handling of materials. However, these devices have had a deep impact in the nuclear industry where the first objective has been to reduce the exhibition and the personnel contact with radioactive materials. Knowing the utility of the mobile robots and remote systems in nuclear facilities in the world, the Department of Automation and Instrumentation of the Instituto Nacional de Investigaciones Nucleares (ININ) has carried out some researches and applications that they have facilitated the work of the researches and professionals of the ININ involved in the handling of radioactive materials, as the system with monorail for the introduction of irradiated materials in a production cell of Iodine-131 and the robot vehicle for the radioactive materials transport TRASMAR (contraction of Transportacion Asistida de Materiales Radiactivos). (Author)

  15. Flocking of multiple mobile robots based on backstepping.

    Science.gov (United States)

    Dong, Wenjie

    2011-04-01

    This paper considers the flocking of multiple nonholonomic wheeled mobile robots. Distributed controllers are proposed with the aid of backstepping techniques, results from graph theory, and singular perturbation theory. The proposed controllers can make the states of a group of robots converge to a desired geometric pattern whose centroid moves along a desired trajectory under the condition that the desired trajectory is available to a portion of the group of robots. Since communication delay is inevitable in distributed control, its effect on the performance of the closed-loop systems is analyzed. It is shown that the proposed controllers work well if communication delays are constant. To show effectiveness of the proposed controllers, simulation results are included.

  16. Coverage Improvement for Wireless Sensor Networks using Grid Quorum based Node Mobility

    DEFF Research Database (Denmark)

    Mathur, Prateek; Nielsen, Rasmus Hjorth; Prasad, Neeli R.

    2012-01-01

    Coverage of wireless sensor networks (WSNs) is an important quality of service (QoS) metric and often the desired coverage is not attainable at the initial deployment, but node mobility can be used to improve the coverage by relocating sensor nodes. Unconstrained node mobility is considered infea...

  17. Reducing handover latency in future IP-based wireless networks: Fast Proxy Mobile IPv6

    NARCIS (Netherlands)

    Heijenk, Geert; Bargh, Mortaza S.; Laganier, Julien; Prasad, Anand R.

    2008-01-01

    Current IP-level mobility protocols have difficulties meeting the stringent handover delay requirements of future wireless networks. At the same time they do not give sufficient control to the network to control the handover process. This paper presents an extension to Proxy Mobile IP, which is the

  18. 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)

  19. A user interface for mobile robotized tele-echography

    International Nuclear Information System (INIS)

    Triantafyllidis, G.A.; Thomos, N.; Canero, C.; Vieyres, P.; Strintzis, M.G.

    2006-01-01

    Ultrasound imaging allows the evaluation of the degree of emergency of a patient. However, in many situations no experienced sonographer is available to perform such echography. To cope with this issue, the OTELO project 'mObile Tele-Echography using an ultra-Light rObot' (OTELO) aims to develop a fully integrated end-to-end mobile tele-echography system using an ultralight, remotely controlled six degree-of-freedom (DOF) robot. In this context, this paper deals with the user interface environment of the OTELO system, composed by the following parts: an ultrasound video transmission system providing real-time images of the scanned area at each moment, an audio/video conference to communicate with the paramedical assistant and the patient, and finally a virtual reality environment, providing visual and haptic feedback to the expert, while capturing the expert's hand movements with a one-DOF hand free input device

  20. An iterative learning controller for nonholonomic mobile robots

    International Nuclear Information System (INIS)

    Oriolo, G.; Panzieri, S.; Ulivi, G.

    1998-01-01

    The authors present an iterative learning controller that applies to nonholonomic mobile robots, as well as other systems that can be put in chained form. The learning algorithm exploits the fact that chained-form. The learning algorithm exploits the fact that chained-form systems are linear under piecewise-constant inputs. The proposed control scheme requires the execution of a small number of experiments to drive the system to the desired state in finite time, with nice convergence and robustness properties with respect to modeling inaccuracies as well as disturbances. To avoid the necessity of exactly reinitializing the system at each iteration, the basic method is modified so as to obtain a cyclic controller, by which the system is cyclically steered through an arbitrary sequence of states. As a case study, a carlike mobile robot is considered. Both simulation and experimental results are reported to show the performance of the method

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

    DEFF Research Database (Denmark)

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

    2013-01-01

    This paper introduces a method for robust, rule-based mission control for mobile robots in a modular framework. Due to the modularity of the framework, it is possible to use both hierarchical control and reactive behavior seamlessly to find solutions to both planned and unplanned event in the mis......This paper introduces a method for robust, rule-based mission control for mobile robots in a modular framework. Due to the modularity of the framework, it is possible to use both hierarchical control and reactive behavior seamlessly to find solutions to both planned and unplanned event...... in the mission execution. A demonstration example for office navigation is presented along with considerations for rules that should ensure robust solving of missions...

  2. An Autonomous Mobile Robotic System for Surveillance of Indoor Environments

    Directory of Open Access Journals (Sweden)

    Donato Di Paola

    2010-02-01

    Full Text Available The development of intelligent surveillance systems is an active research area. In this context, mobile and multi-functional robots are generally adopted as means to reduce the environment structuring and the number of devices needed to cover a given area. Nevertheless, the number of different sensors mounted on the robot, and the number of complex tasks related to exploration, monitoring, and surveillance make the design of the overall system extremely challenging. In this paper, we present our autonomous mobile robot for surveillance of indoor environments. We propose a system able to handle autonomously general-purpose tasks and complex surveillance issues simultaneously. It is shown that the proposed robotic surveillance scheme successfully addresses a number of basic problems related to environment mapping, localization and autonomous navigation, as well as surveillance tasks, like scene processing to detect abandoned or removed objects and people detection and following. The feasibility of the approach is demonstrated through experimental tests using a multisensor platform equipped with a monocular camera, a laser scanner, and an RFID device. Real world applications of the proposed system include surveillance of wide areas (e.g. airports and museums and buildings, and monitoring of safety equipment.

  3. Kinematic evaluation of mobile robotic platforms for overground gait neurorehabilitation

    Science.gov (United States)

    Alias, N. Akmal; Huq, M. Saiful; Ibrahim, B. S. K. K.; Omar, Rosli

    2017-09-01

    Gait assistive devices offer a great solution to the walking re-education which reduce patients theoretical limit by aiding the anatomical joints to be in line with the rehabilitation session. Overground gait training, which is differs significantly from body-weight supported treadmill training in many aspects, essentially consists of a mobile robotic base to support the subject securely (usually with overhead harness) while its motion and orientation is controlled seamlessly to facilitate subjects free movement. In this study, efforts have been made for evaluation of both holonomic and nonholonomic drives, the outcome of which may constitute the primarily results to the effective approach in designing a robotic platform for the mobile rehabilitation robot. The sets of kinematic equations are derived using typical geometries of two different drives. The results indicate that omnidirectional mecanum wheel platform is capable for more sophisticated discipline. Although the differential drive platform happens to be more simple and easy to construct, but it is less desirable as it has limited number of motions applicable to the system. The omnidirectional robot consisting of mecanum wheels, which is classified as holonomic is potentially the best solution in terms of its capability to move in arbitrary direction without concerning the changing of wheel's direction.

  4. An Autonomous Mobile Robotic System for Surveillance of Indoor Environments

    Directory of Open Access Journals (Sweden)

    Donato Di Paola

    2010-03-01

    Full Text Available The development of intelligent surveillance systems is an active research area. In this context, mobile and multi-functional robots are generally adopted as means to reduce the environment structuring and the number of devices needed to cover a given area. Nevertheless, the number of different sensors mounted on the robot, and the number of complex tasks related to exploration, monitoring, and surveillance make the design of the overall system extremely challenging. In this paper, we present our autonomous mobile robot for surveillance of indoor environments. We propose a system able to handle autonomously general-purpose tasks and complex surveillance issues simultaneously. It is shown that the proposed robotic surveillance scheme successfully addresses a number of basic problems related to environment mapping, localization and autonomous navigation, as well as surveillance tasks, like scene processing to detect abandoned or removed objects and people detection and following. The feasibility of the approach is demonstrated through experimental tests using a multisensor platform equipped with a monocular camera, a laser scanner, and an RFID device. Real world applications of the proposed system include surveillance of wide areas (e.g. airports and museums and buildings, and monitoring of safety equipment.

  5. Maintaining Wireless Connectivity Constraints for Robot Swarms in the Presence of Obstacles

    Directory of Open Access Journals (Sweden)

    Joel M. Esposito

    2011-01-01

    Full Text Available The swarm paradigm of multirobot cooperation relies on a distributed architecture, where each robot makes its own decisions based on locally available knowledge. But occasionally the swarm members may need to share information about their environment or actions through some type of ad hoc communication channel, such as a radio modem, infrared communication, or an optical connection. In all of these cases robust operation is best attained when the transmitter/receiver robot pair is (1 separated by less than some maximum distance (range constraint; and (2 not obstructed by large dense objects (line-of-sight constraint. Therefore to maintain a wireless link between two robots, it is desirable to simultaneously comply with these two spatial constraints. Given a swarm of point robots with specified initial and final configurations and a set of desired communication links consistent with the above criteria, we explore the problem of designing inputs to achieve the final configuration while preserving the desired links for the duration of the motion. Some interesting conclusions about the feasibility of the problem are offered. A potential field-based optimization algorithm is provided, along with a novel composition scheme, and its operation is demonstrated through both simulation and experimentation on a group of small robots.

  6. Design and Implementation of Sound Searching Robots in Wireless Sensor Networks.

    Science.gov (United States)

    Han, Lianfu; Shen, Zhengguang; Fu, Changfeng; Liu, Chao

    2016-09-21

    A sound target-searching robot system which includes a 4-channel microphone array for sound collection, magneto-resistive sensor for declination measurement, and a wireless sensor networks (WSN) for exchanging information is described. It has an embedded sound signal enhancement, recognition and location method, and a sound searching strategy based on a digital signal processor (DSP). As the wireless network nodes, three robots comprise the WSN a personal computer (PC) in order to search the three different sound targets in task-oriented collaboration. The improved spectral subtraction method is used for noise reduction. As the feature of audio signal, Mel-frequency cepstral coefficient (MFCC) is extracted. Based on the K-nearest neighbor classification method, we match the trained feature template to recognize sound signal type. This paper utilizes the improved generalized cross correlation method to estimate time delay of arrival (TDOA), and then employs spherical-interpolation for sound location according to the TDOA and the geometrical position of the microphone array. A new mapping has been proposed to direct the motor to search sound targets flexibly. As the sink node, the PC receives and displays the result processed in the WSN, and it also has the ultimate power to make decision on the received results in order to improve their accuracy. The experiment results show that the designed three-robot system implements sound target searching function without collisions and performs well.

  7. Design and Implementation of Sound Searching Robots in Wireless Sensor Networks

    Directory of Open Access Journals (Sweden)

    Lianfu Han

    2016-09-01

    Full Text Available A sound target-searching robot system which includes a 4-channel microphone array for sound collection, magneto-resistive sensor for declination measurement, and a wireless sensor networks (WSN for exchanging information is described. It has an embedded sound signal enhancement, recognition and location method, and a sound searching strategy based on a digital signal processor (DSP. As the wireless network nodes, three robots comprise the WSN a personal computer (PC in order to search the three different sound targets in task-oriented collaboration. The improved spectral subtraction method is used for noise reduction. As the feature of audio signal, Mel-frequency cepstral coefficient (MFCC is extracted. Based on the K-nearest neighbor classification method, we match the trained feature template to recognize sound signal type. This paper utilizes the improved generalized cross correlation method to estimate time delay of arrival (TDOA, and then employs spherical-interpolation for sound location according to the TDOA and the geometrical position of the microphone array. A new mapping has been proposed to direct the motor to search sound targets flexibly. As the sink node, the PC receives and displays the result processed in the WSN, and it also has the ultimate power to make decision on the received results in order to improve their accuracy. The experiment results show that the designed three-robot system implements sound target searching function without collisions and performs well.

  8. Wheel rolling constraints and slip in mobile robots

    Energy Technology Data Exchange (ETDEWEB)

    Shekhar, S.

    1997-03-01

    It is widely accepted that dead reckoning based on the rolling with no slip condition on wheels is not a reliable method to ascertain the position and orientation of a mobile robot for any reasonable distance. The author establishes that wheel slip is inevitable under the dynamic model of motion using classical results on the accessibility and controllability in nonlinear control theory and an analytical model of rolling of two linearly elastic bodies.

  9. Operation and handling of a mobile robot with tricycle structure

    International Nuclear Information System (INIS)

    Segovia de los Rios, J.A.

    2003-01-01

    In this article the main cares that are for the appropriate operation of a designed mobile robot and built for the transport of radioactive materials are reported. In a same way, it is shown that the maneuverability of the vehicle is adapted for its tele operation in the atmospheres for where the irradiated charge should be made circulate, using for it the controls that have been designated of a remote control of general use. (Author)

  10. Learning to locate an odour source with a mobile robot

    OpenAIRE

    Duckett, T.; Axelsson, M.; Saffiotti, A.

    2001-01-01

    We address the problem of enabling a mobile robot to locate a stationary odour source using an electronic nose constructed from gas sensors. On the hardware side, we use a stereo nose architecture consisting of two parallel chambers, each containing an identical set of sensors. On the software side, we use a recurrent artificial neural network to learn the direction to a stationary source from a time series of sensor readings. This contrasts with previous approaches, that rely on the existenc...

  11. Using insects to drive mobile robots - hybrid robots bridge the gap between biological and artificial systems.

    Science.gov (United States)

    Ando, Noriyasu; Kanzaki, Ryohei

    2017-09-01

    The use of mobile robots is an effective method of validating sensory-motor models of animals in a real environment. The well-identified insect sensory-motor systems have been the major targets for modeling. Furthermore, mobile robots implemented with such insect models attract engineers who aim to avail advantages from organisms. However, directly comparing the robots with real insects is still difficult, even if we successfully model the biological systems, because of the physical differences between them. We developed a hybrid robot to bridge the gap. This hybrid robot is an insect-controlled robot, in which a tethered male silkmoth (Bombyx mori) drives the robot in order to localize an odor source. This robot has the following three advantages: 1) from a biomimetic perspective, the robot enables us to evaluate the potential performance of future insect-mimetic robots; 2) from a biological perspective, the robot enables us to manipulate the closed-loop of an onboard insect for further understanding of its sensory-motor system; and 3) the robot enables comparison with insect models as a reference biological system. In this paper, we review the recent works regarding insect-controlled robots and discuss the significance for both engineering and biology. Copyright © 2017 Elsevier Ltd. All rights reserved.

  12. Design on a Composite Mobile System for Exploration Robot

    Directory of Open Access Journals (Sweden)

    Weiyan Shang

    2016-01-01

    Full Text Available In order to accomplish exploration missions in complex environments, a new type of robot has been designed. By analyzing the characteristics of typical moving systems, a new mobile system which is named wheel-tracked moving system (WTMS has been presented. Then by virtual prototype simulation, the new system’s ability to adapt complex environments has been verified. As the curve of centroid acceleration changes in large amplitude in this simulation, ride performance of this robot has been studied. Firstly, a simplified dynamic model has been established, and then by affecting factors analysis on ride performance, an optimization model for suspension parameters has been presented. Using NSGA-II method, a set of nondominated solutions for suspension parameters has been gotten, and by weighing the importance of the objective function, an optimal solution has been selected to be applied on suspension design. As the wheel-tracked exploration robot has been designed and manufactured, the property test has been conducted. By testing on physical prototype, the robot’s ability to surmount complex terrain has been verified. Design of the wheel-tracked robot will provide a stable platform for field exploration tasks, and in addition, the certain configuration and suspension parameters optimization method will provide reference to other robot designs.

  13. Analysis of mobile fronthaul bandwidth and wireless transmission performance in split-PHY processing architecture.

    Science.gov (United States)

    Miyamoto, Kenji; Kuwano, Shigeru; Terada, Jun; Otaka, Akihiro

    2016-01-25

    We analyze the mobile fronthaul (MFH) bandwidth and the wireless transmission performance in the split-PHY processing (SPP) architecture, which redefines the functional split of centralized/cloud RAN (C-RAN) while preserving high wireless coordinated multi-point (CoMP) transmission/reception performance. The SPP architecture splits the base stations (BS) functions between wireless channel coding/decoding and wireless modulation/demodulation, and employs its own CoMP joint transmission and reception schemes. Simulation results show that the SPP architecture reduces the MFH bandwidth by up to 97% from conventional C-RAN while matching the wireless bit error rate (BER) performance of conventional C-RAN in uplink joint reception with only 2-dB signal to noise ratio (SNR) penalty.

  14. Unevenness Point Descriptor for Terrain Analysis in Mobile Robot Applications

    Directory of Open Access Journals (Sweden)

    Mauro Bellone

    2013-07-01

    Full Text Available In recent years, the use of imaging sensors that produce a three-dimensional representation of the environment has become an efficient solution to increase the degree of perception of autonomous mobile robots. Accurate and dense 3D point clouds can be generated from traditional stereo systems and laser scanners or from the new generation of RGB-D cameras, representing a versatile, reliable and cost-effective solution that is rapidly gaining interest within the robotics community. For autonomous mobile robots, it is critical to assess the traversability of the surrounding environment, especially when driving across natural terrain. In this paper, a novel approach to detect traversable and non-traversable regions of the environment from a depth image is presented that could enhance mobility and safety through integration with localization, control and planning methods. The proposed algorithm is based on the analysis of the normal vector of a surface obtained through Principal Component Analysis and it leads to the definition of a novel, so defined, Unevenness Point Descriptor. Experimental results, obtained with vehicles operating in indoor and outdoor environments, are presented to validate this approach.

  15. Sensor Node Deployment Based on Electromagnetism-Like Algorithm in Mobile Wireless Sensor Networks

    OpenAIRE

    Özdağ, Recep; Karcı, Ali

    2015-01-01

    The dynamic deployment of sensors in wireless networks significantly affects the performance of the network. However, the efficient application of dynamic deployments which determines the positions of the sensors within the network increases the coverage area of the network. As a result of this, dynamic deployment increases the efficiency of the wireless sensor networks (WSNs). In this paper, dynamic deployment was applied to WSNs which consist of mobile sensors by aiming at increasing the co...

  16. Real-time video streaming in mobile cloud over heterogeneous wireless networks

    Science.gov (United States)

    Abdallah-Saleh, Saleh; Wang, Qi; Grecos, Christos

    2012-06-01

    Recently, the concept of Mobile Cloud Computing (MCC) has been proposed to offload the resource requirements in computational capabilities, storage and security from mobile devices into the cloud. Internet video applications such as real-time streaming are expected to be ubiquitously deployed and supported over the cloud for mobile users, who typically encounter a range of wireless networks of diverse radio access technologies during their roaming. However, real-time video streaming for mobile cloud users across heterogeneous wireless networks presents multiple challenges. The network-layer quality of service (QoS) provision to support high-quality mobile video delivery in this demanding scenario remains an open research question, and this in turn affects the application-level visual quality and impedes mobile users' perceived quality of experience (QoE). In this paper, we devise a framework to support real-time video streaming in this new mobile video networking paradigm and evaluate the performance of the proposed framework empirically through a lab-based yet realistic testing platform. One particular issue we focus on is the effect of users' mobility on the QoS of video streaming over the cloud. We design and implement a hybrid platform comprising of a test-bed and an emulator, on which our concept of mobile cloud computing, video streaming and heterogeneous wireless networks are implemented and integrated to allow the testing of our framework. As representative heterogeneous wireless networks, the popular WLAN (Wi-Fi) and MAN (WiMAX) networks are incorporated in order to evaluate effects of handovers between these different radio access technologies. The H.264/AVC (Advanced Video Coding) standard is employed for real-time video streaming from a server to mobile users (client nodes) in the networks. Mobility support is introduced to enable continuous streaming experience for a mobile user across the heterogeneous wireless network. Real-time video stream packets

  17. Design of two-dimensional coils for wireless power transmission to in vivo robotic capsule.

    Science.gov (United States)

    Lee, Seon-Woo; Kim, Jong-Dae; Son, Ju-Hyun; Ryu, Mun-Ho; Kim, Jongwon

    2005-01-01

    This paper presents a design of two dimensional receiving coils to provide hundreds of milli-watt power via inductive link to in vivo robotic capsules, whose orientation are practically undetermined. The wireless power transmission system consists of a transmitter powered by class E power amplifier, and receiver with 2-dimensional antenna, rectifier, and voltage regulator. Two types of 2-dimensional antennas are designed and evaluated by theoretic and experimental analysis. Experimental results show that the proposed 2-D receiving antenna could deliver the power homogeneously against its orientation, with less than 20% of variation of the possible maximum power.

  18. Hybrid Control of Long-Endurance Aerial Robotic Vehicles for Wireless Sensor Networks

    Directory of Open Access Journals (Sweden)

    Deok-Jin Lee

    2011-06-01

    Full Text Available This paper presents an effective hybrid control approach for building stable wireless sensor networks between heterogeneous unmanned vehicles using long‐ endurance aerial robotic vehicles. For optimal deployment of the aerial vehicles in communication networks, a gradient climbing based self‐estimating control algorithm is utilized to locate the aerial platforms to maintain maximum communication throughputs between distributed multiple nodes. The autonomous aerial robots, which function as communication relay nodes, extract and harvest thermal energy from the atmospheric environment to improve their flight endurance within specified communication coverage areas. The rapidly‐deployable sensor networks with the high‐endurance aerial vehicles can be used for various application areas including environment monitoring, surveillance, tracking, and decision‐making support. Flight test and simulation studies are conducted to evaluate the effectiveness of the proposed hybrid control technique for robust communication networks.

  19. Manipulation of permanent magnetic polymer micro-robots: a new approach towards guided wireless capsule endoscopy

    Science.gov (United States)

    Hilbich, D.; Rahbar, A.; Khosla, A.; Gray, B. L.

    2012-10-01

    We present the initial experimental results for manipulating micro-robots featuring permanent magnetic polymer magnets for guided wireless endoscopy applications. The magnetic polymers are fabricated by doping polydimethylsiloxane (PDMS) with permanent isotropic rare earth magnetic powder (MQFP 12-5) with an average particle size of 6 μm. The prepared magnetic nanocomposite polymer (M-NCP) is patterned in the desired shape against a plexiglass mold via soft lithography techniques. It is observed that the fabricated micro-robot magnets have a magnetic field strength of 50 mT and can easily be actuated by applying a field of 8.3 mT (field measured at the capsule's position) and moved at a rate of 5 inches/second.

  20. Three-phase receiving coil of wireless power transmission system for gastrointestinal robot

    Science.gov (United States)

    Jia, Z. W.; Jiang, T.; Liu, Y.

    2017-11-01

    Power shortage is the bottleneck for the wide application of gastrointestinal (GI) robot. Owing to the limited volume and free change of orientation of the receiving set in GI trace, the optimal of receiving set is the key point to promote the transmission efficiency of wireless power transmission system. A new type of receiving set, similar to the winding of three-phase asynchronous motor, is presented and compared with the original three-dimensional orthogonal coil. Considering the given volume and the space utilization ratio, the three-phase and the three-orthogonal ones are the parameters which are optimized and compared. Both the transmission efficiency and stability are analyzed and verified by in vitro experiments. Animal experiments show that the new one could provide at least 420 mW power in volume of Φ11 × 13mm with a uniformity of 78.3% for the GI robot.

  1. Mobile robots and remote systems in nuclear applications; Robots moviles y sistemas remotos en aplicaciones nucleares

    Energy Technology Data Exchange (ETDEWEB)

    Segovia de los Rios, J. A.; Benitez R, J. S., E-mail: armando.segovia@inin.gob.m [ININ, Departamento de Automatizacion e Instrumentacion, Carretera Mexico-Toluca s/n, 52750 Ocoyoacac, Estado de Mexico (Mexico)

    2010-07-01

    Traditionally, the robots have been used in the industry for the colored to the spray, welding, schemed, assemble and handling of materials. However, these devices have had a deep impact in the nuclear industry where the first objective has been to reduce the exhibition and the personnel contact with radioactive materials. Knowing the utility of the mobile robots and remote systems in nuclear facilities in the world, the Department of Automation and Instrumentation of the Instituto Nacional de Investigaciones Nucleares (ININ) has carried out some researches and applications that they have facilitated the work of the researches and professionals of the ININ involved in the handling of radioactive materials, as the system with monorail for the introduction of irradiated materials in a production cell of Iodine-131 and the robot vehicle for the radioactive materials transport TRASMAR (contraction of Transportacion Asistida de Materiales Radiactivos). (Author)

  2. Efficient Information Dissemination in Wireless Sensor Networks using Mobile Sinks

    National Research Council Canada - National Science Library

    Vincze, Zoltan; Vidacs, Attila; Vida, Rolland

    2006-01-01

    ...; therefore, relaying information between sensors and a sink node, possibly over multiple wireless hops, in an energy-efficient manner is a challenging task that preoccupies the research community for some time now...

  3. Low wireless power transfer using inductive coupling for mobile phone charger

    International Nuclear Information System (INIS)

    Fareq, M; Fitra, M; Irwanto, M; Hasan, Syafruddin; Arinal, M

    2014-01-01

    A wireless power transfer (WPT) using inductive coupling for mobile phone charger is studied. The project is offer to study and fabricate WPT using inductive coupling for mobile phone charger that will give more information about distance is effect for WPT performance and WPT is not much influenced by the presence of hands, books and types of plastics. The components used to build wireless power transfer can be divided into 3 parts components, the transceiver for power transmission, the inductive coils in this case as the antenna, receiver and the rectifier which act convert AC to DC. Experiments have been conducted and the wireless power transfer using inductive coupling is suitable to be implemented for mobile phone charger.

  4. WISH: a Wireless Mobile Multimedia Information System in Healthcare using RFID.

    Science.gov (United States)

    Yu, Weider D; Ray, Pradeep; Motoc, Tiberiu

    2008-05-01

    It is important to improve the efficiency of healthcare-related operations and the associated costs. Healthcare organizations are constantly under increased pressure to streamline operations and provide enhanced services to their patients. Wireless mobile computing technology has the potential to provide the desired benefits and would be a critical part of today's healthcare information system. In this paper, a system is presented to better facilitate the functions of physicians and medical staff in healthcare by using modern wireless mobile technology, Radio Frequency Identification (RFID) tools, and multimedia streaming. The paper includes a case study of the development of such a system in the context of healthcare in the United States. The results of the study show how wireless mobile multimedia systems can be developed for the improvement of the quality and efficiency in healthcare for other nations as well. Our testing data show a time reduction of more than 50% in the daily activities of hospital staff.

  5. Performance Analysis and Odometry Improvement of an Omnidirectional Mobile Robot for Outdoor Terrain

    Science.gov (United States)

    2011-09-01

    omnidirectional mobile robot can perform complex maneuvers (i.e. extremely sharp turning) that cannot be achieved by typical Ackermann steered wheeled vehicles...for the ASOC-driven omnidirectional mobile robot is described as follows: First, the wheel angular velocities of each ASOC [ωi,L , ωi,R] and the...terrain. This is due to wheel slippage that causes miscounts of wheel rotation. In particular, the ASOC-driven omnidirectional mobile robot experiences

  6. Development of a Multi-Arm Mobile Robot for Nuclear Decommissioning Tasks

    Directory of Open Access Journals (Sweden)

    Mohamed J. Bakari

    2007-12-01

    Full Text Available This paper concerns the design of a two-arm mobile delivery platform for application within nuclear decommissioning tasks. The adoption of the human arm as a model of manoeuvrability, scale and dexterity is the starting point for operation of two seven-function arms within the context of nuclear decommissioning tasks, the selection of hardware and its integration, and the development of suitable control methods. The forward and inverse kinematics for the manipulators are derived and the proposed software architecture identified to control the movements of the arm joints and the performance of selected decommissioning tasks. We discuss the adoption of a BROKK demolition machine as a mobile platform and the integration with its hydraulic system to operate the two seven-function manipulators separately. The paper examines the modelling and development of a real-time control method using Proportional-Integral-Derivative (PID and Proportional-Integral-Plus (PIP control algorithms in the host computer with National Instruments functions and tools to control the manipulators and obtain feedback through wireless communication. Finally we consider the application of a third party device, such as a personal mobile phone, and its interface with LabVIEW software in order to operate the robot arms remotely.

  7. Development of a Multi-Arm Mobile Robot for Nuclear Decommissioning Tasks

    Directory of Open Access Journals (Sweden)

    Mohamed J. Bakari

    2008-11-01

    Full Text Available This paper concerns the design of a two-arm mobile delivery platform for application within nuclear decommissioning tasks. The adoption of the human arm as a model of manoeuvrability, scale and dexterity is the starting point for operation of two seven-function arms within the context of nuclear decommissioning tasks, the selection of hardware and its integration, and the development of suitable control methods. The forward and inverse kinematics for the manipulators are derived and the proposed software architecture identified to control the movements of the arm joints and the performance of selected decommissioning tasks. We discuss the adoption of a BROKK demolition machine as a mobile platform and the integration with its hydraulic system to operate the two seven-function manipulators separately. The paper examines the modelling and development of a real-time control method using Proportional-Integral-Derivative (PID and Proportional-Integral-Plus (PIP control algorithms in the host computer with National Instruments functions and tools to control the manipulators and obtain feedback through wireless communication. Finally we consider the application of a third party device, such as a personal mobile phone, and its interface with LabVIEW software in order to operate the robot arms remotely.

  8. Advanced technology mobile robotics vehicle fleet

    International Nuclear Information System (INIS)

    McGovern, D.E.

    1987-03-01

    A fleet of vehicles is being developed and maintained by Sandia National Laboratories for studies in remote control and autonomous operation. The vehicles range from modified commercial vehicles to specially constructed mobile platforms and are utilized as testbeds for developing concepts in the areas of remote control (teleoperation) and computer control (autonomy). Actuators control the vehicle speed, brakes, and steering via manual input from a remote driving station or through some level of digital computer control. On-board processing may include simple vehicle control functions or may allow for unmanned, autonomous operation. Communication links are provided for digital communication between control computers, television transmission for vehicle vision, and voice for local control. SNL can develop, test, and evaluate sensors, processing requirements, various methods of actuator implementation, operator controlled feedback requirements, and vehicle operations. A description of the major features and uses for each of the vehicles in the fleet is provided

  9. Training Revising Based Traversability Analysis of Complex Terrains for Mobile Robot

    Directory of Open Access Journals (Sweden)

    Rui Song

    2014-05-01

    Full Text Available Traversability analysis is one of the core issues in the autonomous navigation for mobile robots to identify the accessible area by the information of sensors on mobile robots. This paper proposed a model to analyze the traversability of complex terrains based on rough sets and training revising. The model described the traversability for mobile robots by traversability cost. Through the experiment, the paper gets the conclusion that traversability analysis model based on rough sets and training revising can be used where terrain features are rich and complex, can effectively handle the unstructured environment, and can provide reliable and effective decision rules in the autonomous navigation for mobile robots.

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

    Data.gov (United States)

    National Aeronautics and Space Administration — Future lunar site operations will benefit from mobile robots, both autonomous and tele-operated, that complement or replace human extravehicular activity....

  11. A 3-D Miniature LIDAR System for Mobile Robot Navigation, Phase II

    Data.gov (United States)

    National Aeronautics and Space Administration — Future lunar site operations will benefit from mobile robots, both autonomous and tele-operated, that complement or replace human extravehicular activity....

  12. Distributed Group-Based Mobility Management Scheme in Wireless Body Area Networks

    Directory of Open Access Journals (Sweden)

    Moneeb Gohar

    2017-01-01

    Full Text Available For group-based mobility management in 6LoWPAN-based wireless body area networks (WBAN, some schemes using the Proxy Mobile IPv6 (PMIP have been proposed. However, the existing PMIP-based mobility schemes tend to induce large registration delay and handover delay. To overcome such limitations, we propose a new distributed group-based mobility management scheme, in which the Local Mobility Anchor (LMA function is implemented by each Mobile Access Gateway (MAG and the handover operation is performed between two neighboring MAGs without the help of LMA. Besides, each MAG maintains the information of the group of mobile sensors and aggregates the Authentication-Authorization-Accounting (AAA query messages for a group of mobile sensors as a “single” message to decrease the control overhead. By numerical analysis, it is shown that the proposed scheme can reduce the registration and handover delays, compared to the existing PMIP-based mobility schemes.

  13. Using real-time stereopsis for mobile robot control

    Science.gov (United States)

    Bonasso, R. P.; Nishihara, H. K.

    1991-02-01

    This paper describes on-going work in using range and motion data generated at video-frame rates as the basis for long-range perception in a mobile robot. A current approach in the artificial intelligence community to achieve timecritical perception for situated reasoning is to use low-level perception for motor reflex-like activity and higher-level but more computationally intense perception for path planning reconnaissance and retrieval activities. Typically inclinometers and a compass or an infra-red beacon system provide stability and orientation maintenance and ultrasonic or infra-red sensors serve as proximity detectors for obstacle avoidance. For distant ranging and area occupancy determination active imaging systems such as laser scanners can be prohibitivtly expensive and heretofore passive systems typically performed more slowly than the cycle time of the control system causing the robot to halt periodically along its way. However a recent stereo system developed by Nishihara known as PRISM (Practical Real-time Imaging Stereo Matcher) matches stereo pairs using a sign-correlation technique that gives range and motion at video frame rates. We are integrating this technique with constant-time control software for distant ranging and object detection at a speed that is comparable with the cycle-times of the low-level sensors. Possibilities for a variety of uses in a leader-follower mobile robot situation are discussed.

  14. Design, characterization and control of the Unique Mobility Corporation robot

    Science.gov (United States)

    Velasco, Virgilio B., Jr.; Newman, Wyatt S.; Steinetz, Bruce; Kopf, Carlo; Malik, John

    1994-01-01

    Space and mass are at a premium on any space mission, and thus any machinery designed for space use should be lightweight and compact, without sacrificing strength. It is for this reason that NASA/LeRC contracted Unique Mobility Corporation to exploit their novel actuator designs to build a robot that would advance the present state of technology with respect to these requirements. Custom-designed motors are the key feature of this robot. They are compact, high-performance dc brushless servo motors with a high pole count and low inductance, thus permitting high torque generation and rapid phase commutation. Using a custom-designed digital signal processor-based controller board, the pulse width modulation power amplifiers regulate the fast dynamics of the motor currents. In addition, the programmable digital signal processor (DSP) controller permits implementation of nonlinear compensation algorithms to account for motoring vs. regeneration, torque ripple, and back-EMF. As a result, the motors produce a high torque relative to their size and weight, and can do so with good torque regulation and acceptably high velocity saturation limits. This paper presents the Unique Mobility Corporation robot prototype: its actuators, its kinematic design, its control system, and its experimental characterization. Performance results, including saturation torques, saturation velocities and tracking accuracy tests are included.

  15. Design, characterization and control of the Unique Mobility Corporation robot

    Science.gov (United States)

    Velasco, Virgilio B., Jr.; Newman, Wyatt S.; Steinetz, Bruce; Kopf, Carlo; Malik, John

    1994-05-01

    Space and mass are at a premium on any space mission, and thus any machinery designed for space use should be lightweight and compact, without sacrificing strength. It is for this reason that NASA/LeRC contracted Unique Mobility Corporation to exploit their novel actuator designs to build a robot that would advance the present state of technology with respect to these requirements. Custom-designed motors are the key feature of this robot. They are compact, high-performance dc brushless servo motors with a high pole count and low inductance, thus permitting high torque generation and rapid phase commutation. Using a custom-designed digital signal processor-based controller board, the pulse width modulation power amplifiers regulate the fast dynamics of the motor currents. In addition, the programmable digital signal processor (DSP) controller permits implementation of nonlinear compensation algorithms to account for motoring vs. regeneration, torque ripple, and back-EMF. As a result, the motors produce a high torque relative to their size and weight, and can do so with good torque regulation and acceptably high velocity saturation limits. This paper presents the Unique Mobility Corporation robot prototype: its actuators, its kinematic design, its control system, and its experimental characterization. Performance results, including saturation torques, saturation velocities and tracking accuracy tests are included.

  16. Mobile location services for the next generation wireless network

    DEFF Research Database (Denmark)

    Schou, Saowanee

    2008-01-01

    of interest, getting weather information, and tracking the whereabouts of a child. Mobile location services gained a great deal of interest in 2000, and they were envisioned by the business players in the mobile service market as one of the few service categories where the mobile users would be willing to pay...... usage of the mobile location services is still not very high compared to other entertainment and messaging services. The mobile location services are currently not the important part of the mobile data services, and the services have obviously not yet met the hyped expectation of the mass-market......Mobile location services exploit mobile location technologies for determining where a mobile user is geographically located. This information can then be used for providing location-specific content to the mobile user. The mobile location services can be used, for example, for finding points...

  17. Design of a Mobile Robot for Air Ducts Exploration

    Directory of Open Access Journals (Sweden)

    Moses A. Koledoye

    2017-10-01

    Full Text Available This work presents the solutions adopted for the design and the implementation of an autonomous wheeled robot developed for the exploration and mapping of air ventilation ducts. The hardware is based on commercial off-the-shelf devices, including sensors, motors, processing devices and interfaces. The mechanical chassis was designed from scratch to meet a trade-off between small size and available volume to host the components. The software stack is based on the Robot Operating System (ROS. Special attention was dedicated to the design of the mobility strategy, which must take into account some constraints and issues that are specific to the considered application, such as the relatively small size of ducts, the need to detect and avoid possible holes on the floor of the duct and other unusual obstacles and the unavailability of external reference frameworks for localization. The main contribution of this paper lies in the design, implementation and experimentation of the overall system.

  18. 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)

  19. 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....... The navigation scheme based on the hybrid metric-topological maps is scalable and adaptable since new local maps can be easily added to the global topology, and the method can be deployed with minimum amount of modification if new areas are to be explored. The method is implemented successfully on a physical...

  20. Dynamic Obstacle Avoidance for an Omnidirectional Mobile Robot

    Directory of Open Access Journals (Sweden)

    Robert L. Williams

    2010-01-01

    Full Text Available We have established a novel method of obstacle-avoidance motion planning for mobile robots in dynamic environments, wherein the obstacles are moving with general velocities and accelerations, and their motion profiles are not preknown. A hybrid system is presented in which a global deliberate approach is applied to determine the motion in the desired path line (DPL, and a local reactive approach is used for moving obstacle avoidance. A machine vision system is required to sense obstacle motion. Through theoretical analysis, simulation, and experimental validation applied to the Ohio University RoboCup robot, we show the method is effective to avoid collisions with moving obstacles in a dynamic environment.

  1. Cyber Security Evaluation of the Wireless Communication for the Mobile Safeguard Systems in Nuclear Power Plants

    International Nuclear Information System (INIS)

    Lee, S.; Kim, Y.S.; Ye, S.H.

    2015-01-01

    This paper introduces cyber security evaluation results and a design of the wireless communication technology to apply to safeguard systems in nuclear power plants. While wireless communication technologies can generally make mobility and efficiency on plant operation, those have seldom been installed on the nuclear I&C systems due to the negative concern of unexpected outcomes that stem from electromagnetic interference and cyber attack. New design of advanced digital safeguard and I&C systems uses computer-based systems for the safeguard and safety functions. On the other hand, those are being exposed to various types of new and existing cyber threats, vulnerabilities and risks which significantly increase the likelihood that those could be compromised. In order to employ the wireless communication technology in safeguard function, licencees assess and manage the potential for adverse effects on safeguard and safety functions so as to provide high assurance that critical functions are properly protected cyber attack. It is expected that the safeguard function, specifically on the area of real-time monitoring, logging, can be enhanced by employing the mobile safeguard devices (: smart phone, laptop, smart pad, etc). In this paper, we deal with the cyber security evaluation, which consists of threat analysis, vulnerability test, establishment of security plan, and design solutions for the wireless communication on the basis of IEEE 802.11(Wi-Fi) protocol. Proposed evaluation and design solution could be a basis for the design of wireless communication and mobile safeguard systems in nuclear power plants. (author)

  2. Optimal placement of range-only beacons for mobile robot localisation

    CSIR Research Space (South Africa)

    Burke, Michael G

    2011-11-01

    Full Text Available -only Beacons for Mobile Robot Localisation Michael Burke Mobile Intelligent Autonomous Systems Council for Scientific and Industrial Research Pretoria, South Africa Email: michaelburke@ieee.org Nico Bos Dept. Electrical, Electronic and Computer...

  3. Non linear predictive control of a LEGO mobile robot

    Science.gov (United States)

    Merabti, H.; Bouchemal, B.; Belarbi, K.; Boucherma, D.; Amouri, A.

    2014-10-01

    Metaheuristics are general purpose heuristics which have shown a great potential for the solution of difficult optimization problems. In this work, we apply the meta heuristic, namely particle swarm optimization, PSO, for the solution of the optimization problem arising in NLMPC. This algorithm is easy to code and may be considered as alternatives for the more classical solution procedures. The PSO- NLMPC is applied to control a mobile robot for the tracking trajectory and obstacles avoidance. Experimental results show the strength of this approach.

  4. Sonar sensor models and their application to mobile robot localization.

    Science.gov (United States)

    Burguera, Antoni; González, Yolanda; Oliver, Gabriel

    2009-01-01

    This paper presents a novel approach to mobile robot localization using sonar sensors. This approach is based on the use of particle filters. Each particle is augmented with local environment information which is updated during the mission execution. An experimental characterization of the sonar sensors used is provided in the paper. A probabilistic measurement model that takes into account the sonar uncertainties is defined according to the experimental characterization. The experimental results quantitatively evaluate the presented approach and provide a comparison with other localization strategies based on both the sonar and the laser. Some qualitative results are also provided for visual inspection.

  5. Practical indoor mobile robot navigation using hybrid maps

    DEFF Research Database (Denmark)

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

    2011-01-01

    . The navigation scheme based on the hybrid metric-topological maps is scalable and adaptable since new local maps can be easily added to the global topology, and the method can be deployed with minimum amount of modification if new areas are to be explored. The method is implemented successfully on a physical......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...

  6. Intelligent piloting tools for control of an autonomous mobile robot

    Science.gov (United States)

    Malotaux, Eric; Alimenti, Rodolphe; Bogaert, Marc; Gaspart, Pierre

    1991-03-01

    Mobile robots usually suffer from a problem of continuous localization for position control feedback (indeed dead reckoning is often unreliable because of slippage and drift). One solution to this problem is to involve dedicated environment perception in the motion process. There is also a need for a very precise flexible and inexpensive in computation time path execution control algorithm. It must produce natural trajectories and not only straight lines and circles joined by stop points and must take into account all the physical constraints on speed and acceleration. All these requirements are handled by the " pilot" we present here.

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

    DEFF Research Database (Denmark)

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

    1999-01-01

    This paper describes the phenomenon of systematic errors in odometry models in mobile robots and looks at various ways of avoiding it by means of auto-calibration. The systematic errors considered are incorrect knowledge of the wheel base and the gains from encoder readings to wheel displacement....... By auto-calibration we mean a standardized procedure which estimates the uncertainties using only on-board equipment such as encoders, an absolute measurement system and filters; no intervention by operator or off-line data processing is necessary. Results are illustrated by a number of simulations...

  8. ODEX I - A new class of mobile robotics

    International Nuclear Information System (INIS)

    Bartholet, T.G.

    1984-01-01

    The world's first functionoid is a multifunctional, six-legged walking machine designed to demonstrate a variety of attributes unique to mobile, non-factory robotics, including unprecedented strength-to-weight ratios and agility. Dubbed ODEX I by its developers, Odetics, Inc., of Anaheim, Calif., it serves as the base technology for future generations of functionoids built for specific applications, particularly in environments dangerous or inaccessible to humans. The first commercial application for functionoids appears to be in the nuclear power industry, where it can reduce human exposure to radiation, increase plant availability and increase ability to deal with emergency and post-emergency situations as well as provide other benefits

  9. Wireless, Web-Based Interactive Control of Optical Coherence Tomography with Mobile Devices.

    Science.gov (United States)

    Mehta, Rajvi; Nankivil, Derek; Zielinski, David J; Waterman, Gar; Keller, Brenton; Limkakeng, Alexander T; Kopper, Regis; Izatt, Joseph A; Kuo, Anthony N

    2017-01-01

    Optical coherence tomography (OCT) is widely used in ophthalmology clinics and has potential for more general medical settings and remote diagnostics. In anticipation of remote applications, we developed wireless interactive control of an OCT system using mobile devices. A web-based user interface (WebUI) was developed to interact with a handheld OCT system. The WebUI consisted of key OCT displays and controls ported to a webpage using HTML and JavaScript. Client-server relationships were created between the WebUI and the OCT system computer. The WebUI was accessed on a cellular phone mounted to the handheld OCT probe to wirelessly control the OCT system. Twenty subjects were imaged using the WebUI to assess the system. System latency was measured using different connection types (wireless 802.11n only, wireless to remote virtual private network [VPN], and cellular). Using a cellular phone, the WebUI was successfully used to capture posterior eye OCT images in all subjects. Simultaneous interactivity by a remote user on a laptop was also demonstrated. On average, use of the WebUI added only 58, 95, and 170 ms to the system latency using wireless only, wireless to VPN, and cellular connections, respectively. Qualitatively, operator usage was not affected. Using a WebUI, we demonstrated wireless and remote control of an OCT system with mobile devices. The web and open source software tools used in this project make it possible for any mobile device to potentially control an OCT system through a WebUI. This platform can be a basis for remote, teleophthalmology applications using OCT.

  10. Innovative Mobile Robot Method: Improving the Learning of Programming Languages in Engineering Degrees

    Science.gov (United States)

    Ortiz, Octavio Ortiz; Pastor Franco, Juan Ángel; Alcover Garau, Pedro María; Herrero Martín, Ruth

    2017-01-01

    This paper describes a study of teaching a programming language in a C programming course by having students assemble and program a low-cost mobile robot. Writing their own programs to define the robot's behavior raised students' motivation. Working in small groups, students programmed the robots by using the control structures of structured…

  11. Discursive Deployments: Mobilizing Support for Municipal and Community Wireless Networks in the U.S.

    Energy Technology Data Exchange (ETDEWEB)

    Alvarez, Rosio; Rodriguez, Juana Maria

    2008-08-16

    This paper examines Municipal Wireless (MW) deployments in the United States. In particular, the interest is in understanding how discourse has worked to mobilize widespread support for MW networks. We explore how local governments discursively deploy the language of social movements to create a shared understanding of the networking needs of communities. Through the process of"framing" local governments assign meaning to the MW networks in ways intended to mobilize support anddemobilize opposition. The mobilizing potential of a frame varies and is dependent on its centrality and cultural resonance. We examine the framing efforts of MW networks by using a sample of Request for Proposals for community wireless networks, semi-structured interviews and local media sources. Prominent values that are central to a majority of the projects and others that are culturally specific are identified and analyzed for their mobilizing potency.

  12. Mobile RFID of Wireless Mesh Network for Intelligent Safety Care System

    Directory of Open Access Journals (Sweden)

    Chwen-Fu Horng

    2009-12-01

    Full Text Available This paper presents the Wi-Fi phone with RFID (Radio frequency identification of student entered the school, via Wireless Access Points (APs of school will transmit MAC address with RFID of Wi-Fi phone to Internet Data Center (IDC for server and then the message exchanged by using GSM (or 3G has been transmitted message (or mail to the mobile user of parents (or client user. The wireless access points support broadcasting multiple SSIDs, each of which can have a different set of security and network setting. The RADIUS server is used to authenticate the Wireless Access Point (AP and mobile nodes. In safety case system, we used the several authentication and encryption options for the WLAN. We will discuss the use of Wi-Fi protected Access (WPA, RFID, IP Security (IPSec, and Secure Socket Layer (SSL, and there are high Quality of service (QoS and performance.

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

    Directory of Open Access Journals (Sweden)

    Ziyad Allawi

    2015-03-01

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

  14. Wireless Mobile Computing and its Links to Descriptive Complexity

    Czech Academy of Sciences Publication Activity Database

    Wiedermann, Jiří; Pardubská, D.

    2008-01-01

    Roč. 19, č. 4 (2008), s. 887-913 ISSN 0129-0541 R&D Projects: GA AV ČR 1ET100300517 Institutional research plan: CEZ:AV0Z10300504 Keywords : alternating Turing machine * simulation * simultaneous time-space complexity * wireless parallel Turing machine Subject RIV: IN - Informatics, Computer Science Impact factor: 0.554, year: 2008

  15. Line Tracking Control of a Two-Wheeled Mobile Robot Using Visual Feedback

    Directory of Open Access Journals (Sweden)

    G. H. Lee

    2013-03-01

    Full Text Available This article presents the development and control of a two-wheeled mobile robot as the base of a human carrier for an amusement/transportation vehicle. The robot has a combined structure of two systems: a line tracking mobile robot and an inverted pendulum system that maintains balance while following a line on the floor. The mobile robot is purposely designed to carry a human operator or humanoid arms. The robot has the capability to follow the line on the floor using visual feedback, as well as maintaining its balance on two wheels. A visual servoing technique allows the robot to follow the line on the floor captured by a camera as the desired trajectory. Controllers are designed to have good line tracking and balancing performance using sensor fusion techniques. Experimental studies involving the robot following a line demonstrate the feasibility of it being an amusement vehicle.

  16. 78 FR 69018 - Improving the Resiliency of Mobile Wireless Communications Networks; Reliability and Continuity...

    Science.gov (United States)

    2013-11-18

    ... service providers to apprise the Commission of network outages that exceed certain quantitative thresholds... facilities-based mobile wireless service provider uses roaming on a routine basis to expand its coverage... think that the percentage of inoperable sites within a county equals the percentage of lost coverage...

  17. Proceedings of the 2014 7th IFIP Wireless and Mobile Networking Conference (WMNC)

    NARCIS (Netherlands)

    Monteiro, E.; Curado, M.; Heijenk, Geert; Braun, T.; Granjal, J.

    Message from the chairs We had the great pleasure to welcome all participants to the 7th IFIP Wireless and Mobile Networking Conference. (WMNC 2014), organized by the University of Coimbra, and held in Vilamoura, Portugal, May 20 – 22, 2014. WMNC 2014 was sponsored by IFIP TC6, and technically

  18. Power consumption analysis of constant bit rate data transmission over 3G mobile wireless networks

    DEFF Research Database (Denmark)

    Wang, Le; Ukhanova, Ann; Belyaev, Evgeny

    2011-01-01

    This paper presents the analysis of the power consumption of data transmission with constant bit rate over 3G mobile wireless networks. Our work includes the description of the transition state machine in 3G networks, followed by the detailed energy consumption analysis and measurement results...

  19. Asymptotic Performance Bound on Estimation and Prediction of Mobile MIMO-OFDM Wireless Channels

    DEFF Research Database (Denmark)

    Adeogun, Ramoni

    2018-01-01

    In this paper, we derive an asymptotic closed--form expression for the error bound on extrapolation of doubly selective mobile MIMO wireless channels. The bound shows the relationship between the prediction error and system design parameters such as bandwidth, number of antenna elements, and number...

  20. Motion Detection from Mobile Robots with Fuzzy Threshold Selection in Consecutive 2D Laser Scans

    Directory of Open Access Journals (Sweden)

    María A. Martínez

    2015-01-01

    Full Text Available Motion detection and tracking is a relevant problem for mobile robots during navigation to avoid collisions in dynamic environments or in applications where service robots interact with humans. This paper presents a simple method to distinguish mobile obstacles from the environment that is based on applying fuzzy threshold selection to consecutive two-dimensional (2D laser scans previously matched with robot odometry. The proposed method has been tested with the Auriga-α mobile robot in indoors to estimate the motion of nearby pedestrians.

  1. Navigation of autonomous mobile robot using different activation functions of wavelet neural network

    Directory of Open Access Journals (Sweden)

    Panigrahi Pratap Kumar

    2015-03-01

    Full Text Available An autonomous mobile robot is a robot which can move and act autonomously without the help of human assistance. Navigation problem of mobile robot in unknown environment is an interesting research area. This is a problem of deducing a path for the robot from its initial position to a given goal position without collision with the obstacles. Different methods such as fuzzy logic, neural networks etc. are used to find collision free path for mobile robot. This paper examines behavior of path planning of mobile robot using three activation functions of wavelet neural network i.e. Mexican Hat, Gaussian and Morlet wavelet functions by MATLAB. The simulation result shows that WNN has faster learning speed with respect to traditional artificial neural network.

  2. SMR-CL, A Real-time Control Language for Mobile Robots

    DEFF Research Database (Denmark)

    Andersen, Nils Axel; Ravn, Ole

    2004-01-01

    The paper describes requirements and implementation of a tactical control lan¬guage for mobile robots. Emphasis is given to the real-time issues of the language especially the isolation of the hard real-time and the soft real-time layers of the mobile robot control system. The language may be used...

  3. A Course Programme in Mobile Robotics with Integrated Hands-on Exercises and Competitions

    DEFF Research Database (Denmark)

    Ravn, Ole; Andersen, Nils Axel

    2010-01-01

    The paper describes the design of and the considerations for a course programme in mobile robotics at the Technical University of Denmark. An integrated approach was taken designing mobile robot hardware, software and course curricula in an interconnected way. The courses in the programme all...

  4. Modelling and Scheduling Autonomous Mobile Robot for a Real-World Industrial Application

    DEFF Research Database (Denmark)

    Dang, Vinh Quang; Nielsen, Izabela Ewa; Bøgh, Simon

    2013-01-01

    The paper deals with a real-world implementation of autonomous industrial mobile robot performing an industrial application at a factory of a pump manufacturer. In the implementation, the multi-criteria optimization problem of scheduling tasks of a mobile robot is also taken into account. The pap...

  5. Power And Propulsion Systems For Mobile Robotic Applications

    Science.gov (United States)

    Layuan, Li; Haiming, Zou

    1987-02-01

    Choosing the best power and propulsion systems for mobile robotic land vehicle applications requires consideration of technologies. The electric power requirements for onboard electronic and auxiliary equipment include 110/220 volt 60 Hz ac power as well as low voltage dc power. Weight and power are saved by either direct dc power distribution, or high frequency (20 kHz) ac power distribution. Vehicle control functions are performed electronically but steering, braking and traction power may be distributed electrically, mechanically or by fluid (hydraulic) means. Electric drive is practical, even for small vehicles, provided that advanced electric motors are used. Such electric motors have demonstrated power densities of 3.1 kilowatts per kilogram with devices in the 15 kilowatt range. Electric motors have a lower torque, but higher power density as compared to hydraulic or mechanical transmission systems. Power density being comparable, electric drives were selected to best meet the other requirements for robotic vehicles. Two robotic vehicle propulsion system designs are described to illustrate the implementation of electric drive over a vehicle size range of 250-7500 kilograms.

  6. Indoor mobile robot attitude estimation with MEMS gyroscope

    Directory of Open Access Journals (Sweden)

    Cechowicz Radosław

    2017-01-01

    Full Text Available A method of attitude estimation with a low-cost, strap-on MEMS sensor was proposed in the article. The method relies on dynamic gyroscope bias change estimation and updates during detected stops of the robot. The algorithm has been tested in laboratory with iRobot Roomba robot and should be improved to be useful in an industrial environment. The measurement of attitude of a mobile platform is necessary for correct navigation, especially in autonomous vehicles, which use dead reckoning between position updates from external sources. Since the system is intended to operate indoors, in industrial halls and shops, it cannot avail of GPS and Earth magnetic field sensors because of anomalies, which are common inside the steel constructions. Therefore, the accuracy of the gyroscope-based attitude estimation is significant. The proposed method aims to address the common problem of gyroscope bias drift, by dynamic update of sensor bias and simultaneous use of all gyroscope axes, to improve the quality of the measurements. A popular 3-axial gyroscope and 3-axial accelerometer sensors were used during the test runs. Obtained results suggest that it is possible to improve short-term accuracy of inertial dead reckoning, to get a system that could be of practical use in industrial AGV systems or intelligent vehicles.

  7. On Estimation Of The Orientation Of Mobile Robots Using Turning Functions And SONAR Information

    Directory of Open Access Journals (Sweden)

    Dorel AIORDACHIOAIE

    2003-12-01

    Full Text Available SONAR systems are widely used by some artificial objects, e.g. robots, and by animals, e.g. bats, for navigation and pattern recognition. The objective of this paper is to present a solution on the estimation of the orientation in the environment of mobile robots, in the context of navigation, using the turning function approach. The results are shown to be accurate and can be used further in the design of navigation strategies of mobile robots.

  8. Experimental Investigation on the Detection of Obstacles by a Mobile Robot

    Directory of Open Access Journals (Sweden)

    Zoltan-Iosif Korka

    2017-06-01

    Full Text Available The paper presents an experimental investigation regarding the detection of obstacles in the workspace of a mobile robot. The traveling time of mobile robot on wheels, while moving on four with same length routes but with different shapes, was investigated. In this context, the average time to avoid an obstacle was determined, concluding with regard to the sensorial system of the robot.

  9. Graphical analysis of power systems for mobile robotics

    Science.gov (United States)

    Raade, Justin William

    The field of mobile robotics places stringent demands on the power system. Energetic autonomy, or the ability to function for a useful operation time independent of any tether, refueling, or recharging, is a driving force in a robot designed for a field application. The focus of this dissertation is the development of two graphical analysis tools, namely Ragone plots and optimal hybridization plots, for the design of human scale mobile robotic power systems. These tools contribute to the intuitive understanding of the performance of a power system and expand the toolbox of the design engineer. Ragone plots are useful for graphically comparing the merits of different power systems for a wide range of operation times. They plot the specific power versus the specific energy of a system on logarithmic scales. The driving equations in the creation of a Ragone plot are derived in terms of several important system parameters. Trends at extreme operation times (both very short and very long) are examined. Ragone plot analysis is applied to the design of several power systems for high-power human exoskeletons. Power systems examined include a monopropellant-powered free piston hydraulic pump, a gasoline-powered internal combustion engine with hydraulic actuators, and a fuel cell with electric actuators. Hybrid power systems consist of two or more distinct energy sources that are used together to meet a single load. They can often outperform non-hybrid power systems in low duty-cycle applications or those with widely varying load profiles and long operation times. Two types of energy sources are defined: engine-like and capacitive. The hybridization rules for different combinations of energy sources are derived using graphical plots of hybrid power system mass versus the primary system power. Optimal hybridization analysis is applied to several power systems for low-power human exoskeletons. Hybrid power systems examined include a fuel cell and a solar panel coupled with

  10. New Intelligent Transmission Concept for Hybrid Mobile Robot Speed Control

    Directory of Open Access Journals (Sweden)

    Nazim Mir-Nasiri

    2005-09-01

    Full Text Available This paper presents a new concept of a mobile robot speed control by using two degree of freedom gear transmission. The developed intelligent speed controller utilizes a gear box which comprises of epicyclic gear train with two inputs, one coupled with the engine shaft and another with the shaft of a variable speed dc motor. The net output speed is a combination of the two input speeds and is governed by the transmission ratio of the planetary gear train. This new approach eliminates the use of a torque converter which is otherwise an indispensable part of all available automatic transmissions, thereby reducing the power loss that occurs in the box during the fluid coupling. By gradually varying the speed of the dc motor a stepless transmission has been achieved. The other advantages of the developed controller are pulling over and reversing the vehicle, implemented by intelligent mixing of the dc motor and engine speeds. This approach eliminates traditional braking system in entire vehicle design. The use of two power sources, IC engine and battery driven DC motor, utilizes the modern idea of hybrid vehicles. The new mobile robot speed controller is capable of driving the vehicle even in extreme case of IC engine failure, for example, due to gas depletion.

  11. New Intelligent Transmission Concept for Hybrid Mobile Robot Speed Control

    Directory of Open Access Journals (Sweden)

    Nazim Mir-Nasiri

    2008-11-01

    Full Text Available This paper presents a new concept of a mobile robot speed control by using two degree of freedom gear transmission. The developed intelligent speed controller utilizes a gear box which comprises of epicyclic gear train with two inputs, one coupled with the engine shaft and another with the shaft of a variable speed dc motor. The net output speed is a combination of the two input speeds and is governed by the transmission ratio of the planetary gear train. This new approach eliminates the use of a torque converter which is otherwise an indispensable part of all available automatic transmissions, thereby reducing the power loss that occurs in the box during the fluid coupling. By gradually varying the speed of the dc motor a stepless transmission has been achieved. The other advantages of the developed controller are pulling over and reversing the vehicle, implemented by intelligent mixing of the dc motor and engine speeds. This approach eliminates traditional braking system in entire vehicle design. The use of two power sources, IC engine and battery driven DC motor, utilizes the modern idea of hybrid vehicles. The new mobile robot speed controller is capable of driving the vehicle even in extreme case of IC engine failure, for example, due to gas depletion..

  12. Mobile Robot Navigation Based on Q-Learning Technique

    Directory of Open Access Journals (Sweden)

    Lazhar Khriji

    2011-03-01

    Full Text Available This paper shows how Q-learning approach can be used in a successful way to deal with the problem of mobile robot navigation. In real situations where a large number of obstacles are involved, normal Q-learning approach would encounter two major problems due to excessively large state space. First, learning the Q-values in tabular form may be infeasible because of the excessive amount of memory needed to store the table. Second, rewards in the state space may be so sparse that with random exploration they will only be discovered extremely slowly. In this paper, we propose a navigation approach for mobile robot, in which the prior knowledge is used within Q-learning. We address the issue of individual behavior design using fuzzy logic. The strategy of behaviors based navigation reduces the complexity of the navigation problem by dividing them in small actions easier for design and implementation. The Q-Learning algorithm is applied to coordinate between these behaviors, which make a great reduction in learning convergence times. Simulation and experimental results confirm the convergence to the desired results in terms of saved time and computational resources.

  13. Insect-controlled Robot: A Mobile Robot Platform to Evaluate the Odor-tracking Capability of an Insect.

    Science.gov (United States)

    Ando, Noriyasu; Emoto, Shuhei; Kanzaki, Ryohei

    2016-12-19

    Robotic odor source localization has been a challenging area and one to which biological knowledge has been expected to contribute, as finding odor sources is an essential task for organism survival. Insects are well-studied organisms with regard to odor tracking, and their behavioral strategies have been applied to mobile robots for evaluation. This "bottom-up" approach is a fundamental way to develop biomimetic robots; however, the biological analyses and the modeling of behavioral mechanisms are still ongoing. Therefore, it is still unknown how such a biological system actually works as the controller of a robotic platform. To answer this question, we have developed an insect-controlled robot in which a male adult silkmoth (Bombyx mori) drives a robot car in response to odor stimuli; this can be regarded as a prototype of a future insect-mimetic robot. In the cockpit of the robot, a tethered silkmoth walked on an air-supported ball and an optical sensor measured the ball rotations. These rotations were translated into the movement of the two-wheeled robot. The advantage of this "hybrid" approach is that experimenters can manipulate any parameter of the robot, which enables the evaluation of the odor-tracking capability of insects and provides useful suggestions for robotic odor-tracking. Furthermore, these manipulations are non-invasive ways to alter the sensory-motor relationship of a pilot insect and will be a useful technique for understanding adaptive behaviors.

  14. A Mathematical Model to Estimate the Position of Mobile Robot by Sensing Caster Wheel Motion

    Directory of Open Access Journals (Sweden)

    Amarendra Jnana H.

    2018-01-01

    Full Text Available This paper describes the position estimation of mobile robot by sensing caster wheel motion. A mathematical model is developed to determine the position of mobile robot by sensing the angular velocity and heading angle of the caster wheel. Using the established equations, simulations were carried out using MATLAB version 8.6 to observe and verify the position coordinates of mobile robot and in turn obtain its trajectory. The simulation results show that the angular velocity of caster wheel and heading angle calculated from the sensor output readings with the help of inverse kinematics equations matches well with that of actual values given as input for simulation. Simulation result of tracking rectangular trajectory implies that the path traced by the mobile robot can also be determined from the sensor output readings. This concept can be implemented on a real mobile robot for estimation of its position.

  15. Remote radiation mapping and preliminary intervention using collaborating (European and Russian) mobile robots

    International Nuclear Information System (INIS)

    Piotrowski, L.; Trouville, B.; Halbach, M.; Sidorkin, N.

    1996-12-01

    The primary objective of the IMPACT project is to develop a light-weight and inexpensive mobile robot that can be used for rapid inspection missions within nuclear power plants. These interventions are to cover normal, incident and accident situations and aim at primary reconnaissance (or 'data collecting') missions. The IMPACT robot was demonstrated (April 1996) in a realistic mission at the Russian nuclear plant SMOLENSK. The demonstration, composed of 2 independent but consecutive missions, was held in a radioactive zone near turbine ≠ 4 of Unit 2: remote radiation mapping with localisation of radioactive sources by the IMPACT robot equipped with a (Russian) gamma-radiation sensor; deployment of a Russian intervention robot for the construction of a protective lead shield around one of the identified sources and verification that the ambient radiation level has been reduce. This mission was executed remotely by 2 mobile robots working in collaboration: a NIKIMT robot equipped with a manipulator arm and carrying leads bricks and the IMPACT robot of mission I (radiation measurements and 'side-observer'). This manuscript describes (a) the technical characteristics of the IMPACT reconnaissance robot (3-segmented, caterpillar-tracked body; 6 video cameras placed around the mobile platform with simultaneous presentation of up to 4 video images at the control post; ability to detach remotely one of the robot's segments (i.e. the robot can divide itself into 2 separate mobile robots)) and (b) the SMOLENSK demonstration. (author)

  16. Scalable Video Streaming Relay for Smart Mobile Devices in Wireless Networks.

    Science.gov (United States)

    Kwon, Dongwoo; Je, Huigwang; Kim, Hyeonwoo; Ju, Hongtaek; An, Donghyeok

    2016-01-01

    Recently, smart mobile devices and wireless communication technologies such as WiFi, third generation (3G), and long-term evolution (LTE) have been rapidly deployed. Many smart mobile device users can access the Internet wirelessly, which has increased mobile traffic. In 2014, more than half of the mobile traffic around the world was devoted to satisfying the increased demand for the video streaming. In this paper, we propose a scalable video streaming relay scheme. Because many collisions degrade the scalability of video streaming, we first separate networks to prevent excessive contention between devices. In addition, the member device controls the video download rate in order to adapt to video playback. If the data are sufficiently buffered, the member device stops the download. If not, it requests additional video data. We implemented apps to evaluate the proposed scheme and conducted experiments with smart mobile devices. The results showed that our scheme improves the scalability of video streaming in a wireless local area network (WLAN).

  17. Scalable Video Streaming Relay for Smart Mobile Devices in Wireless Networks

    Science.gov (United States)

    Kwon, Dongwoo; Je, Huigwang; Kim, Hyeonwoo; Ju, Hongtaek; An, Donghyeok

    2016-01-01

    Recently, smart mobile devices and wireless communication technologies such as WiFi, third generation (3G), and long-term evolution (LTE) have been rapidly deployed. Many smart mobile device users can access the Internet wirelessly, which has increased mobile traffic. In 2014, more than half of the mobile traffic around the world was devoted to satisfying the increased demand for the video streaming. In this paper, we propose a scalable video streaming relay scheme. Because many collisions degrade the scalability of video streaming, we first separate networks to prevent excessive contention between devices. In addition, the member device controls the video download rate in order to adapt to video playback. If the data are sufficiently buffered, the member device stops the download. If not, it requests additional video data. We implemented apps to evaluate the proposed scheme and conducted experiments with smart mobile devices. The results showed that our scheme improves the scalability of video streaming in a wireless local area network (WLAN). PMID:27907113

  18. A Uniform Publish-Subscribe Infrastructure for Communication in Wireless Mobile Environments

    DEFF Research Database (Denmark)

    Brønsted, Jeppe; Hansen, Klaus Marius; Thorup, Rolf

    2006-01-01

    systems and therefore it is important to have communication middleware that hides the complexity of low level network programming and presents a clean and understandable abstraction over communication to the application programmer. It has previously been shown that the publish-subscribe messaging paradigm...... provides a good communication abstraction for wireless networks of mobile nodes. In this paper we present PSI, a uniform publish-subscribe based infrastructure, for communication in wireless mobile environments. In PSI the application is divided into software components that each handles a well defined......In near future the transportation sector will be communication enabled. Devices in vehicles will be able to communicate and thus make a new range of services possible. However, heterogeneous communication capabilities and vehicle mobility complicates the art of designing and implementing these new...

  19. Wireless Self-powered Visual and NDE Robotic Inspection System for Live Gas Distribution Mains

    Energy Technology Data Exchange (ETDEWEB)

    Susan Burkett; Hagen Schempf

    2006-01-31

    Carnegie Mellon University (CMU) under contract from Department of Energy/National Energy Technology Laboratory (DoE/NETL) and co-funding from the Northeast Gas Association (NGA), has completed the overall system design of the next-generation Explorer-II (X-II) live gas main NDE and visual inspection robot platform. The design is based on the Explorer-I prototype which was built and field-tested under a prior (also DoE- and NGA co-funded) program, and served as the validation that self-powered robots under wireless control could access and navigate live natural gas distribution mains. The X-II system design ({approx}8 ft. and 66 lbs.) was heavily based on the X-I design, yet was substantially expanded to allow the addition of NDE sensor systems (while retaining its visual inspection capability), making it a modular system, and expanding its ability to operate at pressures up to 750 psig (high-pressure and unpiggable steel-pipe distribution mains). A new electronics architecture and on-board software kernel were added to again improve system performance. A locating sonde system was integrated to allow for absolute position-referencing during inspection (coupled with external differential GPS) and emergency-locating. The power system was upgraded to utilize lithium-based battery-cells for an increase in mission-time. The system architecture now relies on a dual set of end camera-modules to house the 32-bit processors (Single-Board Computer or SBC) as well as the imaging and wireless (off-board) and CAN-based (on-board) communication hardware and software systems (as well as the sonde-coil and -electronics). The drive-module (2 ea.) are still responsible for bracing (and centering) to drive in push/pull fashion the robot train into and through the pipes and obstacles. The steering modules and their arrangement, still allow the robot to configure itself to perform any-angle (up to 90 deg) turns in any orientation (incl. vertical), and enable the live launching and

  20. Influence of Mobility Models in Precision Spray Aided by Wireless Sensor Networks

    Science.gov (United States)

    Gonçalves, L. B. L.; Costa, F. G.; Neves, L. A.; Ueyama, J.; Zafalon, G. F. D.; Montez, C.; Pinto, A. S. R.

    2015-01-01

    Precision Spray is a technique to increase performance of Precision Agriculture. This spray technique may be aided by a Wireless Sensor Network, however, for such approach, the communication between the agricultural input applicator vehicle and network is critical due to its proper functioning. Thus, this work analyzes how the number of nodes in a wireless sensor network, its type of distribution and different areas of scenario affects the performance of communication. We performed simulations to observe system's behavior changing to find the most fitted non-controlled mobility model to the system.

  1. Influence of Mobility Models in Precision Spray Aided by Wireless Sensor Networks

    International Nuclear Information System (INIS)

    Gonçalves, L B L; Neves, L A; Zafalon, G F D; Costa, F G; Ueyama, J; Montez, C; Pinto, A S R

    2015-01-01

    Precision Spray is a technique to increase performance of Precision Agriculture. This spray technique may be aided by a Wireless Sensor Network, however, for such approach, the communication between the agricultural input applicator vehicle and network is critical due to its proper functioning. Thus, this work analyzes how the number of nodes in a wireless sensor network, its type of distribution and different areas of scenario affects the performance of communication. We performed simulations to observe system's behavior changing to find the most fitted non-controlled mobility model to the system

  2. Enabling mobile/wireless broadband technologies and services for the next billion users

    CSIR Research Space (South Africa)

    Mekuria, F

    2011-09-01

    Full Text Available -HSPA technologies, are the most common wireless broadband technology and facilitates a standards-based migration which allows the utilization of legacy infrastructure. 3G-HSPA systems can interoperate and share the core network with the legacy GSM 2G and 2.5G... networks. Also a packet switching core-network can be designed to share and interoperate with WiFi and WiMAX broadband wireless technologies. It is clear that standards-based migration lowers the cost of mobile broadband services. By utilizing...

  3. Copenhagen as a centre of excellence for mobile and Wireless communication

    DEFF Research Database (Denmark)

    Falch, Morten

    doing well with regard to connectivity of broadband and Internet access, and Denmark has also developed an advanced market for mobile services. The major share of the Danish mobile sector is concentrated in the capital region. In relative terms the mobile sector is largest in Northern Jutland......The aim of this paper is to analyze the potential of the Copenhagen capital region to maintain a leading position in development and provision of mobile technologies. The paper presents empirical data on the mobile sector in the capital region in order to identify strengths and weaknesses...... of the Capital Region of Copenhagen. Denmark is as the rest of Scandinavia considered to be among the leading countries with regard to mobile and wireless communication. This position has been confirmed in a long series of benchmarking analyses comparing e-readiness in countries and regions. Denmark is also...

  4. [Mobile phone-computer wireless interactive graphics transmission technology and its medical application].

    Science.gov (United States)

    Huang, Shuo; Liu, Jing

    2010-05-01

    Application of clinical digital medical imaging has raised many tough issues to tackle, such as data storage, management, and information sharing. Here we investigated a mobile phone based medical image management system which is capable of achieving personal medical imaging information storage, management and comprehensive health information analysis. The technologies related to the management system spanning the wireless transmission technology, the technical capabilities of phone in mobile health care and management of mobile medical database were discussed. Taking medical infrared images transmission between phone and computer as an example, the working principle of the present system was demonstrated.

  5. Experiments in augmented teleoperation for mobile robots: I

    Science.gov (United States)

    Witus, Gary; Hunt, Shawn; Ellis, R. Darrin

    2007-04-01

    Teleoperated mobile robots are beginning to be used for a variety of tasks that require movement in close quarters in the vicinity of moving and parked vehicles, buildings and other man-made structures, and the target object for inspection or manipulation. The robots must be close enough to deploy short-range sensors and manipulators, and must be able to maneuver without potentially damaging collisions. Teleoperation is fatiguing and stressful even without the requirement for close positioning. In cooperation with the TARDEC Robotic Mobility Laboratory (TRML), we are investigating approaches to reduce workload and improve performance through augmented teleoperation. Human-robot interfaces for teleoperation commonly provide two degrees-of-freedom (DoF) motion control with visual feedback from an on-board egocentric camera and no supplemental distance or orientation cueing. This paper reports on the results of preliminary experiments to assess the effects on man-machine task performance of several options for augmented teleoperation: (a) 3 DoF motion control (rotation and omni-directional translation) versus 2 DoF control (rotation and forward/reverse motion), (b) on-board egocentric camera versus fixed-position overwatch camera versus dual egocentric-and-overwatch cameras, and (c) presence or absence of distance and orientation visual cueing. We examined three dimensions of performance: completion time, spatial accuracy, and workspace area. We investigated effects on the expected completion time and on the variance in completion time. Spatial accuracy had three components: orientation, aimpoint, and distance. We collected performance under different task conditions: (a) three position-and-orientation tolerance or accuracy objectives, and (b) four travel distances between successive inspection points. We collected data from three subjects. We analyzed the main effects and conditional interaction effects among the teleoperation options and task conditions. We were

  6. Conduction Electrohydrodynamics with Mobile Electrodes: A Novel Actuation System for Untethered Robots.

    Science.gov (United States)

    Cacucciolo, Vito; Shigemune, Hiroki; Cianchetti, Matteo; Laschi, Cecilia; Maeda, Shingo

    2017-09-01

    Electrohydrodynamics (EHD) refers to the direct conversion of electrical energy into mechanical energy of a fluid. Through the use of mobile electrodes, this principle is exploited in a novel fashion for designing and testing a millimeter-scale untethered robot, which is powered harvesting the energy from an external electric field. The robot is designed as an inverted sail-boat, with the thrust generated on the sail submerged in the liquid. The diffusion constant of the robot is experimentally computed, proving that its movement is not driven by thermal fluctuations, and then its kinematic and dynamic responses are characterized for different applied voltages. The results show the feasibility of using EHD with mobile electrodes for powering untethered robots and provide new evidences for the further development of this actuation system for both mobile robots and compliant actuators in soft robotics.

  7. Position Control of the Single Spherical Wheel Mobile Robot by Using the Fuzzy Sliding Mode Controller

    Directory of Open Access Journals (Sweden)

    Hamed Navabi

    2017-01-01

    Full Text Available A spherical wheel robot or Ballbot—a robot that balances on an actuated spherical ball—is a new and recent type of robot in the popular area of mobile robotics. This paper focuses on the modeling and control of such a robot. We apply the Lagrangian method to derive the governing dynamic equations of the system. We also describe a novel Fuzzy Sliding Mode Controller (FSMC implemented to control a spherical wheel mobile robot. The nonlinear nature of the equations makes the controller nontrivial. We compare the performance of four different fuzzy controllers: (a regulation with one signal, (b regulation and position control with one signal, (c regulation and position control with two signals, and (d FSMC for regulation and position control with two signals. The system is evaluated in a realistic simulation and the robot parameters are chosen based on a LEGO platform, so the designed controllers have the ability to be implemented on real hardware.

  8. Detection of mobile user location on next generation wireless networks

    DEFF Research Database (Denmark)

    Schou, Saowanee; Olesen, Henning

    2005-01-01

    of a Mobile IPv6 device can be determined by mapping the geographical location information with the two care-of-addresses and the physical address of the access point where the user is connected. Such a mechanism makes location services for mobile entities available on a global IP network. The end-users can...

  9. Research on Dynamics and Stability in the Stairs-Climbing of a Tracked Mobile Robot

    Directory of Open Access Journals (Sweden)

    Weijun Tao

    2012-10-01

    Full Text Available Aiming at the functional requirement of climbing up the stairs, the dynamics and stability during a tracked mobile robot's climbing of stairs is studied. First, from the analysis of its cross-country performance, the mechanical structure of the tracked mobile robot is designed and the hardware composition of its control system is given. Second, based on the analysis to its stairs-climbing process, the dynamical model of stairs-climbing is established by using the classical mechanics method. Next, the stability conditions for its stairs-climbing are determined and an evaluation method of its stairs-climbing stability is proposed, based on a mechanics analysis on the robot's backwards tumbling during the stairs-climbing process. Through simulation and experiments, the effectiveness of the dynamical model and the stability evaluation method of the tracked mobile robot in stairs-climbing is verified, which can provide design and analysis foundations for the tracked mobile robots' stairs-climbing.

  10. Fuzzy System of Distribution of Braking Forces on the Engines of a Mobile Robot

    Directory of Open Access Journals (Sweden)

    Bobyr Maxim

    2016-01-01

    Full Text Available The article presents a fuzzy system of distribution of braking forces on the engines of a mobile robot during its lifting and going down.The block diagram of the system of distribution of braking forces and location of sensors on a mobile robot is given in the paper. Also, fuzzy mathematical model of redistribution of braking forces depending on the conditions of the movement a mobile robot is shown in the article. The result of the simulation of control parameters are presented in the article. The control system of a mobile robot is demonstrated on the example of an autonomous mini-robot on platform Pirate under the control of microprocessor Arduino Mega 2560.

  11. A programming environment having three levels of complexity for mobile robotics

    Directory of Open Access Journals (Sweden)

    Carlos Alberto Giraldo

    2012-09-01

    Full Text Available This paper presents a programming environment for supporting learning in STEM, particularly mobile robotic learning. It was designed to maintain progressive learning for people with and without previous knowledge of programming and/or robotics. The environment was multi platform and built with open source tools. Perception, mobility, communication, navigation and collaborative behaviour functionalities can be programmed for different mobile robots. A learner is able to programme robots using different programming languages and editor interfaces: graphic programming interface (basic level, XML-based meta language (intermediate level or ANSI C language (advanced level. The environment supports programme translation transparently into different languages for learners or explicitly on learners’ demand. Learners can access proposed challenges and learning interfaces by examples. The environment was designed to allow characteristics such as extensibility, adaptive interfaces, persistence and low software/hardware coupling. Functionality tests were performed to prove programming environment specifications. UV BOT mobile robots were used in these tests.

  12. DEVELOPMENT OF GENETIC ALGORITHM-BASED METHODOLOGY FOR SCHEDULING OF MOBILE ROBOTS

    DEFF Research Database (Denmark)

    Dang, Vinh Quang

    problem and finding optimal solutions for each one. However, the formulated mathematical models could only be applicable to small-scale problems in practice due to the significant increase of computation time as the problem size grows. Note that making schedules of mobile robots is part of real......-time operations of production managers. Hence to deal with large-scale applications, each heuristic based on genetic algorithms is then developed to find near-optimal solutions within a reasonable computation time for each problem. The quality of these solutions is then compared and evaluated by using......This thesis addresses the issues of scheduling of mobile robot(s) at operational levels of manufacturing systems. More specifically, two problems of scheduling of a single mobile robot with part-feeding tasks and scheduling of multiple mobile robots with preemptive tasks are taken into account...

  13. Propagation Modeling and Defending of a Mobile Sensor Worm in Wireless Sensor and Actuator Networks.

    Science.gov (United States)

    Wang, Tian; Wu, Qun; Wen, Sheng; Cai, Yiqiao; Tian, Hui; Chen, Yonghong; Wang, Baowei

    2017-01-13

    WSANs (Wireless Sensor and Actuator Networks) are derived from traditional wireless sensor networks by introducing mobile actuator elements. Previous studies indicated that mobile actuators can improve network performance in terms of data collection, energy supplementation, etc. However, according to our experimental simulations, the actuator's mobility also causes the sensor worm to spread faster if an attacker launches worm attacks on an actuator and compromises it successfully. Traditional worm propagation models and defense strategies did not consider the diffusion with a mobile worm carrier. To address this new problem, we first propose a microscopic mathematical model to describe the propagation dynamics of the sensor worm. Then, a two-step local defending strategy (LDS) with a mobile patcher (a mobile element which can distribute patches) is designed to recover the network. In LDS, all recovering operations are only taken in a restricted region to minimize the cost. Extensive experimental results demonstrate that our model estimations are rather accurate and consistent with the actual spreading scenario of the mobile sensor worm. Moreover, on average, the LDS outperforms other algorithms by approximately 50% in terms of the cost.

  14. Influence of a mobile robot on the spatial behaviour of quail chicks

    International Nuclear Information System (INIS)

    De Margerie, E; Lumineau, S; Houdelier, C; Richard Yris, M-A

    2011-01-01

    Quail chicks encountered an autonomous mobile robot during their early development. The robot incorporated a heat source that stimulated following of chicks. The spatial behaviour of grown-up chicks was tested in an exploration test and a detour test. Chicks that grew with the mobile robot exhibited better spatial abilities than chicks grown with a static heat source. We discuss these results in the perspective of animal-robot interaction and of the role of early spatial experience on the behavioural development. (communication)

  15. A Genetic Algorithm-based Heuristic for Part-Feeding Mobile Robot Scheduling Problem

    DEFF Research Database (Denmark)

    Dang, Vinh Quang; Nielsen, Izabela Ewa; Bocewicz, Grzegorz

    2012-01-01

    This present study deals with the problem of sequencing feeding tasks of a single mobile robot with manipulation arm which is able to provide parts or components for feeders of machines in a manufacturing cell. The mobile robot has to be scheduled in order to keep machines within the cell producing...... products without any shortage of parts. A method based on the characteristics of feeders and inspired by the (s, Q) inventory system, is thus applied to define time windows for feeding tasks of the robot. The performance criterion is to minimize total traveling time of the robot in a given planning horizon...

  16. Distributed Water Pollution Source Localization with Mobile UV-Visible Spectrometer Probes in Wireless Sensor Networks.

    Science.gov (United States)

    Ma, Junjie; Meng, Fansheng; Zhou, Yuexi; Wang, Yeyao; Shi, Ping

    2018-02-16

    Pollution accidents that occur in surface waters, especially in drinking water source areas, greatly threaten the urban water supply system. During water pollution source localization, there are complicated pollutant spreading conditions and pollutant concentrations vary in a wide range. This paper provides a scalable total solution, investigating a distributed localization method in wireless sensor networks equipped with mobile ultraviolet-visible (UV-visible) spectrometer probes. A wireless sensor network is defined for water quality monitoring, where unmanned surface vehicles and buoys serve as mobile and stationary nodes, respectively. Both types of nodes carry UV-visible spectrometer probes to acquire in-situ multiple water quality parameter measurements, in which a self-adaptive optical path mechanism is designed to flexibly adjust the measurement range. A novel distributed algorithm, called Dual-PSO, is proposed to search for the water pollution source, where one particle swarm optimization (PSO) procedure computes the water quality multi-parameter measurements on each node, utilizing UV-visible absorption spectra, and another one finds the global solution of the pollution source position, regarding mobile nodes as particles. Besides, this algorithm uses entropy to dynamically recognize the most sensitive parameter during searching. Experimental results demonstrate that online multi-parameter monitoring of a drinking water source area with a wide dynamic range is achieved by this wireless sensor network and water pollution sources are localized efficiently with low-cost mobile node paths.

  17. Distributed Water Pollution Source Localization with Mobile UV-Visible Spectrometer Probes in Wireless Sensor Networks

    Directory of Open Access Journals (Sweden)

    Junjie Ma

    2018-02-01

    Full Text Available Pollution accidents that occur in surface waters, especially in drinking water source areas, greatly threaten the urban water supply system. During water pollution source localization, there are complicated pollutant spreading conditions and pollutant concentrations vary in a wide range. This paper provides a scalable total solution, investigating a distributed localization method in wireless sensor networks equipped with mobile ultraviolet-visible (UV-visible spectrometer probes. A wireless sensor network is defined for water quality monitoring, where unmanned surface vehicles and buoys serve as mobile and stationary nodes, respectively. Both types of nodes carry UV-visible spectrometer probes to acquire in-situ multiple water quality parameter measurements, in which a self-adaptive optical path mechanism is designed to flexibly adjust the measurement range. A novel distributed algorithm, called Dual-PSO, is proposed to search for the water pollution source, where one particle swarm optimization (PSO procedure computes the water quality multi-parameter measurements on each node, utilizing UV-visible absorption spectra, and another one finds the global solution of the pollution source position, regarding mobile nodes as particles. Besides, this algorithm uses entropy to dynamically recognize the most sensitive parameter during searching. Experimental results demonstrate that online multi-parameter monitoring of a drinking water source area with a wide dynamic range is achieved by this wireless sensor network and water pollution sources are localized efficiently with low-cost mobile node paths.

  18. Distributed Water Pollution Source Localization with Mobile UV-Visible Spectrometer Probes in Wireless Sensor Networks

    Science.gov (United States)

    Zhou, Yuexi; Wang, Yeyao; Shi, Ping

    2018-01-01

    Pollution accidents that occur in surface waters, especially in drinking water source areas, greatly threaten the urban water supply system. During water pollution source localization, there are complicated pollutant spreading conditions and pollutant concentrations vary in a wide range. This paper provides a scalable total solution, investigating a distributed localization method in wireless sensor networks equipped with mobile ultraviolet-visible (UV-visible) spectrometer probes. A wireless sensor network is defined for water quality monitoring, where unmanned surface vehicles and buoys serve as mobile and stationary nodes, respectively. Both types of nodes carry UV-visible spectrometer probes to acquire in-situ multiple water quality parameter measurements, in which a self-adaptive optical path mechanism is designed to flexibly adjust the measurement range. A novel distributed algorithm, called Dual-PSO, is proposed to search for the water pollution source, where one particle swarm optimization (PSO) procedure computes the water quality multi-parameter measurements on each node, utilizing UV-visible absorption spectra, and another one finds the global solution of the pollution source position, regarding mobile nodes as particles. Besides, this algorithm uses entropy to dynamically recognize the most sensitive parameter during searching. Experimental results demonstrate that online multi-parameter monitoring of a drinking water source area with a wide dynamic range is achieved by this wireless sensor network and water pollution sources are localized efficiently with low-cost mobile node paths. PMID:29462929

  19. Wireless Control of Miniaturized Mobile Vehicle for Indoor Surveillance

    International Nuclear Information System (INIS)

    Saquib, Syed M Taha; Hameed, Sarmad; Jafri, Raza; Usman Ali, Syed M; Amin, Imran

    2013-01-01

    This work is based upon electronic automation and Smart Control techniques, which constitute the basis of Control Area Network (CAN) and Personal Area Network (PAN). Bluetooth technology has been interfaced with a programmable controller to provide multi-dimensional vehicle control. A network is proposed which contains a remote, mobile host controller and an android operating system based mobile set (Client). The client communicates with a host controller through a Bluetooth device. The system incorporates duplex communication after successful confirmation between the host and the client; the android based mobile unit controls the vehicle through the Bluetooth module

  20. Location based Network Optimizations for Mobile Wireless Networks

    DEFF Research Database (Denmark)

    Nielsen, Jimmy Jessen

    The availability of location information in mobile devices, e.g., through built-in GPS receivers in smart phones, has motivated the investigation of the usefulness of location based network optimizations. Since the quality of input information is important for network optimizations, a main focus...... the achievable accuracy of future localization system in mobile settings, as well as quantifying the impact of having a realistic model of the required measurement exchanges. Secondly, this work has considered different large scale and small scale location based network optimizations, namely centralized relay...... and highly mobile scenarios....

  1. A secure wireless mobile-to-server link

    Science.gov (United States)

    Kumar, Abhinav; Akopian, David; Agaian, Sos; Creutzburg, Reiner

    2009-02-01

    Modern mobile devices are some of the most technologically advanced devices that people use on a daily basis and the current trends indicate continuous growth in mobile phone applications. Nowadays phones are equipped with cameras that can capture still images and video, they are equipped with software that can read, convert, manipulate, communicate and save multimedia in multiple formats. This tremendous progress increased the volumes of communicated sensitive information which should be protected against unauthorized access. This paper discusses two general approaches for data protection, steganography and cryptography, and demonstrates how to integrate such algorithms with a mobile-toserver link being used by many applications.

  2. Mobile robot for power plant inspection and maintenance

    International Nuclear Information System (INIS)

    White, J.R.; Farnstrom, K.A.; Harvey, H.W.; Upton, R.G.; Walker, K.L.

    1988-01-01

    An all-terrain, mobile robot (called SURBOT-T) has been developed to perform remote visual, sound, and radiation surveillance within contaminated areas of nuclear power plants. The robot can be equipped with a two-armed, telerobotic manipulator system to perform remote maintenance work. The SURBOT-T vehicle has a double-articulating track base that is capable of climbing 45-deg slopes and stairs and over 16-in.-high obstacles. The overall size of SURBOT-T is 28 in. wide by 38 in. long with the front and rear tracks raised and 52 in. high with the camera lowered. With the tracks in a level position, the base provides a sturdy work platform and can ascend/descend stairs without fear of tipping over. The track can be pivoted straight down to elevate the base 14 in. and pass through water up to 24 in. deep. All motors, amplifiers, computer boards, and other electronic components are contained within a sealed housing. The color television camera, spotlight, and directional microphone are mounted on a pan/tilt, which is attached to an elevating mechanism that has 8 ft of vertical travel. An air sampler, radiation detector, and temperature/humidity probe are mounted on the vehicle. The slave manipulator arms on the vehicle can be teleoperated using master arms that are attached to a portable stand near the control console. They can also be taught to perform motions or tasks by computer control much like robot arms in the automated manufacturing industry

  3. Measurement of power and energy consumption of a competition-mobile-robot

    Directory of Open Access Journals (Sweden)

    Tsung Tsing-Tshih

    2017-01-01

    Full Text Available Power and energy consumption are the two most important factors for successful operation; they also play important roles in performance identification. The measurement of power and energy consumption is a common test in the development process of a competition mobile robot. If the power of a competition mobile robot is not sufficient, the running time in the competition will be too long and winning the competition will not be possible. Thus, the power and energy consumption are basic and important measurement parameters for a competition mobile robot. In this paper, five types of hand-made competition mobile robots are successfully developed and their performances are measured. From the measurements, their powers and energy consumptions are evaluated and analyzed, respectively. The test results show large differences in the powers and energy consumptions of the five models, even though the same motors were used. The design and construction of the competition mobile robot are the key parameters that cause these huge differences. It is possible to develop the measurement techniques for power and energy consumption, quickly and precisely, to determine how to modify a competition mobile robot rapidly and efficiently to a condition optimal for a mobile robot competition.

  4. UST-ID robotics: Wireless communication and minimum conductor technology, and end-point tracking technology surveys

    International Nuclear Information System (INIS)

    Holliday, M.A.

    1993-10-01

    This report is a technology review of the current state-of-the-art in two technologies applicable to the Underground Storage Tank (UST) program at the Hanford Nuclear Reservation. The first review is of wireless and minimal conductor technologies for in-tank communications. The second review is of advanced concepts for independent tool-point tracking. This study addresses the need to provide wireless transmission media or minimum conductor technology for in-tank communications and robot control. At present, signals are conducted via contacting transmission media, i.e., cables. Replacing wires with radio frequencies or invisible light are commonplace in the communication industry. This technology will be evaluated for its applicability to the needs of robotics. Some of these options are radio signals, leaky coax, infrared, microwave, and optical fiber systems. Although optical fiber systems are contacting transmission media, they will be considered because of their ability to reduce the number of conductors. In this report we will identify, evaluate, and recommend the requirements for wireless and minimum conductor technology to replace the present cable system. The second section is a technology survey of concepts for independent end-point tracking (tracking the position of robot end effectors). The position of the end effector in current industrial robots is determined by computing that position from joint information, which is basically a problem of locating a point in three-dimensional space. Several approaches are presently being used in industrial robotics, including: stereo-triangulation with a theodolite network and electrocamera system, photogrammetry, and multiple-length measurement with laser interferometry and wires. The techniques that will be evaluated in this survey are advanced applications of the aforementioned approaches. These include laser tracking (3-D and 5-D), ultrasonic tracking, vision-guided servoing, and adaptive robotic visual tracking

  5. UST-ID robotics: Wireless communication and minimum conductor technology, and end-point tracking technology surveys

    Energy Technology Data Exchange (ETDEWEB)

    Holliday, M.A.

    1993-10-01

    This report is a technology review of the current state-of-the-art in two technologies applicable to the Underground Storage Tank (UST) program at the Hanford Nuclear Reservation. The first review is of wireless and minimal conductor technologies for in-tank communications. The second review is of advanced concepts for independent tool-point tracking. This study addresses the need to provide wireless transmission media or minimum conductor technology for in-tank communications and robot control. At present, signals are conducted via contacting transmission media, i.e., cables. Replacing wires with radio frequencies or invisible light are commonplace in the communication industry. This technology will be evaluated for its applicability to the needs of robotics. Some of these options are radio signals, leaky coax, infrared, microwave, and optical fiber systems. Although optical fiber systems are contacting transmission media, they will be considered because of their ability to reduce the number of conductors. In this report we will identify, evaluate, and recommend the requirements for wireless and minimum conductor technology to replace the present cable system. The second section is a technology survey of concepts for independent end-point tracking (tracking the position of robot end effectors). The position of the end effector in current industrial robots is determined by computing that position from joint information, which is basically a problem of locating a point in three-dimensional space. Several approaches are presently being used in industrial robotics, including: stereo-triangulation with a theodolite network and electrocamera system, photogrammetry, and multiple-length measurement with laser interferometry and wires. The techniques that will be evaluated in this survey are advanced applications of the aforementioned approaches. These include laser tracking (3-D and 5-D), ultrasonic tracking, vision-guided servoing, and adaptive robotic visual tracking.

  6. 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...

  7. DYNAMICS BASED CONTROL OF A SKID STEERING MOBILE ROBOT

    Directory of Open Access Journals (Sweden)

    Osama Elshazly

    2016-06-01

    Full Text Available In this paper, development of a reduced order, augmented dynamics-drive model that combines both the dynamics and drive subsystems of the skid steering mobile robot (SSMR is presented. A Linear Quadratic Regulator (LQR control algorithm with feed-forward compensation of the disturbances part included in the reduced order augmented dynamics-drive model is designed. The proposed controller has many advantages such as its simplicity in terms of design and implementation in comparison with complex nonlinear control schemes that are usually designed for this system. Moreover, the good performance is also provided by the controller for the SSMR comparable with a nonlinear controller based on the inverse dynamics which depends on the availability of an accurate model describing the system. Simulation results illustrate the effectiveness and enhancement provided by the proposed controller.

  8. Dimensionality Reduction for Sensorimotor Learning in Mobile Robotics

    Science.gov (United States)

    Lee, Daniel D.

    2002-12-01

    Mobile robotic systems with a wide variety of sensors, actuators, and onboard high-speed processors are commercially and readily available. The information processing capabilities of these system presently lack the robustness and sophistication of biological systems. One challenge is that the high-dimensional input signals from the sensors need to be converted into a smaller number of perceptually relevant features. This dimensionality reduction can be performed on static signals such as a single image or on dynamic data such as a speech spectrogram. This proceedings discusses several different models for dimensionality reduction that differ only on the constraints on the variables and parameters of the models. In particular, nonnegativity constraints are shown to give rise to distributed yet sparse representations of both static and dynamic data.

  9. 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.

  10. Mechanical deployment system on aries an autonomous mobile robot

    International Nuclear Information System (INIS)

    Rocheleau, D.N.

    1995-01-01

    ARIES (Autonomous Robotic Inspection Experimental System) is under development for the Department of Energy (DOE) to survey and inspect drums containing low-level radioactive waste stored in warehouses at DOE facilities. This paper focuses on the mechanical deployment system-referred to as the camera positioning system (CPS)-used in the project. The CPS is used for positioning four identical but separate camera packages consisting of vision cameras and other required sensors such as bar-code readers and light stripe projectors. The CPS is attached to the top of a mobile robot and consists of two mechanisms. The first is a lift mechanism composed of 5 interlocking rail-elements which starts from a retracted position and extends upward to simultaneously position 3 separate camera packages to inspect the top three drums of a column of four drums. The second is a parallelogram special case Grashof four-bar mechanism which is used for positioning a camera package on drums on the floor. Both mechanisms are the subject of this paper, where the lift mechanism is discussed in detail

  11. A Component-Oriented Programming for Embedded Mobile Robot Software

    Directory of Open Access Journals (Sweden)

    Safaai Deris

    2008-11-01

    Full Text Available Applying software reuse to many Embedded Real-Time (ERT systems poses significant challenges to industrial software processes due to the resource-constrained and real-time requirements of the systems. Autonomous Mobile Robot (AMR system is a class of ERT systems, hence, inherits the challenge of applying software reuse in general ERT systems. Furthermore, software reuse in AMR systems is challenged by the diversities in terms of robot physical size and shape, environmental interaction and implementation platform. Thus, it is envisioned that component-based software engineering will be the suitable way to promote software reuse in AMR systems with consideration to general requirements to be self-contained, platform-independent and real-time predictable. A framework for component-oriented programming for AMR software development using PECOS component model is proposed in this paper. The main features of this framework are: (1 use graphical representation for components definition and composition; (2 target C language for optimal code generation with resource-constrained micro-controller; and (3 minimal requirement for run-time support. Real-time implementation indicates that, the PECOS component model together with the proposed framework is suitable for resource constrained embedded AMR systems software development.

  12. A Review on Sensor Network Issues and Robotics

    Directory of Open Access Journals (Sweden)

    Ji Hyoung Ryu

    2015-01-01

    Full Text Available The interaction of distributed robotics and wireless sensor networks has led to the creation of mobile sensor networks. There has been an increasing interest in building mobile sensor networks and they are the favored class of WSNs in which mobility plays a key role in the execution of an application. More and more researches focus on development of mobile wireless sensor networks (MWSNs due to its favorable advantages and applications. In WSNs robotics can play a crucial role, and integrating static nodes with mobile robots enhances the capabilities of both types of devices and enables new applications. In this paper we present an overview on mobile sensor networks in robotics and vice versa and robotic sensor network applications.

  13. Optimized Charging Scheduling with Single Mobile Charger for Wireless Rechargeable Sensor Networks

    Directory of Open Access Journals (Sweden)

    Qihua Wang

    2017-11-01

    Full Text Available Due to the rapid development of wireless charging technology, the recharging issue in wireless rechargeable sensor network (WRSN has been a popular research problem in the past few years. The weakness of previous work is that charging route planning is not reasonable. In this work, a dynamic optimal scheduling scheme aiming to maximize the vacation time ratio of a single mobile changer for WRSN is proposed. In the proposed scheme, the wireless sensor network is divided into several sub-networks according to the initial topology of deployed sensor networks. After comprehensive analysis of energy states, working state and constraints for different sensor nodes in WRSN, we transform the optimized charging path problem of the whole network into the local optimization problem of the sub networks. The optimized charging path with respect to dynamic network topology in each sub-network is obtained by solving an optimization problem, and the lifetime of the deployed wireless sensor network can be prolonged. Simulation results show that the proposed scheme has good and reliable performance for a small wireless rechargeable sensor network.

  14. Hybrid evolutionary computing model for mobile agents of wireless Internet multimedia

    Science.gov (United States)

    Hortos, William S.

    2001-03-01

    The ecosystem is used as an evolutionary paradigm of natural laws for the distributed information retrieval via mobile agents to allow the computational load to be added to server nodes of wireless networks, while reducing the traffic on communication links. Based on the Food Web model, a set of computational rules of natural balance form the outer stage to control the evolution of mobile agents providing multimedia services with a wireless Internet protocol WIP. The evolutionary model shows how mobile agents should behave with the WIP, in particular, how mobile agents can cooperate, compete and learn from each other, based on an underlying competition for radio network resources to establish the wireless connections to support the quality of service QoS of user requests. Mobile agents are also allowed to clone themselves, propagate and communicate with other agents. A two-layer model is proposed for agent evolution: the outer layer is based on the law of natural balancing, the inner layer is based on a discrete version of a Kohonen self-organizing feature map SOFM to distribute network resources to meet QoS requirements. The former is embedded in the higher OSI layers of the WIP, while the latter is used in the resource management procedures of Layer 2 and 3 of the protocol. Algorithms for the distributed computation of mobile agent evolutionary behavior are developed by adding a learning state to the agent evolution state diagram. When an agent is in an indeterminate state, it can communicate to other agents. Computing models can be replicated from other agents. Then the agents transitions to the mutating state to wait for a new information-retrieval goal. When a wireless terminal or station lacks a network resource, an agent in the suspending state can change its policy to submit to the environment before it transitions to the searching state. The agents learn the facts of agent state information entered into an external database. In the cloning process, two

  15. 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.

  16. Mobile robot teleoperation system for plant inspection based on collecting and utilizing environment data

    International Nuclear Information System (INIS)

    Kawabata, Kuniaki; Watanabe, Nobuyasu; Asama, Hajime; Kita, Nobuyuki; Yang, Hai-quan

    2004-01-01

    This paper describes about development of a mobile robot teleoperation system for plant inspection. In our system, the robot is an agent for collecting the environment data and is also teleoperated by the operator utilizing such accumulated environment data which is displayed on the operation interface. The robot equips many sensors for detecting the state of the robot and the environment. Such redundant sensory system can be also utilized to collect the working environment data on-site while the robot is patrolling. Here, proposed system introduces the framework of collecting and utilizing environment data for adaptive plant inspection using the teleoperated robot. A view simulator is primarily aiming to facilitate evaluation of the visual sensors and algorithms and is also extended as the Environment Server, which is the core technology of the digital maintenance field for the plant inspection. In order to construct detailed seamless digital maintenance field mobile robotic technology is utilized to supply environment data to the server. The sensory system on the robot collect the environment data on-site and such collected data is uploaded to the Environment Server for compiling accurate digital environment data base. The robot operator also can utilize accumulated environment data by referring to the Environment Server. In this paper, we explain the concept of our teleoperation system based on collecting and utilizing environment data. Using developed system, inspection patrol experiments were attempted in the plant mock-up. Experimental results are shown by using an omnidirectional mobile robot with sensory system and the Environment Server. (author)

  17. Accuracy Enhancements for Positioning of Mobile Devices in Wireless Communication Networks

    DEFF Research Database (Denmark)

    Figueiras, Joao

    Positioning of mobile devices in wireless communication networks is nowadays being intensively investigated due to the combined benefit of location information and communication. Typical solutions for such scenario rely on robust algorithms that estimate position from indirect measurements...... systems. Since the measurement sampling is also important for tracking moving devices, the first analysis concerns the latency time for obtaining location information in short-range ad-hoc networks. Bluetooth is the elected technology since it is an actual example of such kind of networks. Simulations......, tracking wireless devices is a challenging problem. In order to get better results, we propose a solution which restricts the movement models of the mobile devices. This restriction, by relying on the assumption that users typically move in segment-wise linear trajectories, outperforms the standard...

  18. Impact Of Latency In Wireless Networks For Real-time Multiplayer Games On Mobile Devices.

    OpenAIRE

    Vagstad, Martin Nybø; Haugsdal, Erlend Børslid

    2015-01-01

    This project describes the current state for wireless networks with regard to real-time multiplayer games on mobile devices. It looks at the limitations of these networks and mechanics to reduce the impact of the introduced network latency. The goal is to find an implementation where the user is not able to distinguish between an offline, perfect version and an online version where the user plays against other users in real time. To find this implementations the authors discuss the ch...

  19. Efficient Symbolic Task Planning for Multiple Mobile Robots

    Science.gov (United States)

    2016-12-13

    robot Planning System This section explains how the BWI robots plan individually to accomplish navigation tasks. The system is the outcome of ongoing...locations of people to the knowledge base. 3.2 Choice of Planner The purpose of this section is to investigate how planners perform in a robot ...transferable. • Robots have real-time communications with the central controller. • Interactions among robots happen in two cases. First, there is a con

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2013-10-15

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

  1. Participatory design and validation of mobility enhancement robotic wheelchair.

    Science.gov (United States)

    Daveler, Brandon; Salatin, Benjamin; Grindle, Garrett G; Candiotti, Jorge; Wang, Hongwu; Cooper, Rory A

    2015-01-01

    The design of the mobility enhancement robotic wheelchair (MEBot) was based on input from electric powered wheelchair (EPW) users regarding the conditions they encounter when driving in both indoor and outdoor environments that may affect their safety and result in them becoming immobilized, tipping over, or falling out of their wheelchair. Phase I involved conducting a participatory design study to understand the conditions and barriers EPW users found to be difficult to drive in/over. Phase II consisted of creating a computer-aided design (CAD) prototype EPW to provide indoor and outdoor mobility that addressed these conditions with advanced applications. Phase III involved demonstrating the advanced applications and gathering feedback from end users about the likelihood they would use the advanced applications. The CAD prototype incorporated advanced applications, including self-leveling, curb climbing, and traction control, that addressed the challenging conditions and barriers discussed with EPW users (n = 31) during the participatory design study. Feedback of the CAD design and applications in phase III from end users (n = 12) showed a majority would use self-leveling (83%), traction control (83%), and curb climbing (75%). The overall design of MEBot received positive feedback from EPW users. However, these opinions will need to be reevaluated through user trials as the design advances.

  2. Searching for collisions between mobile robot and environment

    Directory of Open Access Journals (Sweden)

    Marián Hruboš

    2016-09-01

    Full Text Available This article is focused on the search for potential collision of a moving object (as a mobile robot is with the environment. Application of the proposed and presented method requires existence of the three-dimensional model of the environmental space. In this case, the models are generated automatically with the help of mobile measurement platform developed by authors and are available to other applications. Models of moving objects are loaded by the proposed application from external files. The method is based on data fusion, using data from a laser scanner, global positioning system, and inertial navigation system; however, it can also be used for data obtained by other ways. Its correctness was experimentally proved by several experimental tests. Output is in the form of calculated coordinates of the point in which a moving object would potentially collide with the environment if no avoiding action is taken. Such an object may represent an oversized load transferred by a truck, train, ship, the transport means itself or even a person.

  3. 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.

  4. DETECTION AND LOCALIZATION OF MULTIPLE SPOOFING ATTACKERS FOR MOBILE WIRELESS NETWORKS

    Directory of Open Access Journals (Sweden)

    R. Maivizhi

    2015-06-01

    Full Text Available The openness nature of wireless networks allows adversaries to easily launch variety of spoofing attacks and causes havoc in network performance. Recent approaches used Received Signal Strength (RSS traces, which only detect spoofing attacks in mobile wireless networks. However, it is not always desirable to use these methods as RSS values fluctuate significantly over time due to distance, noise and interference. In this paper, we discusses a novel approach, Mobile spOofing attack DEtection and Localization in WIireless Networks (MODELWIN system, which exploits location information about nodes to detect identity-based spoofing attacks in mobile wireless networks. Also, this approach determines the number of attackers who used the same node identity to masquerade as legitimate device. Moreover, multiple adversaries can be localized accurately. By eliminating attackers the proposed system enhances network performance. We have evaluated our technique through simulation using an 802.11 (WiFi network and an 802.15.4 (Zigbee networks. The results prove that MODELWIN can detect spoofing attacks with a very high detection rate and localize adversaries accurately.

  5. Data transport and management in P2P Data Management in Mobile Wireless Sensor Network

    International Nuclear Information System (INIS)

    Sahar, S.; Shaikh, F.K.

    2013-01-01

    The rapid growth in wireless technologies has made wireless communication an important source for transporting data across different domains. In the same way, there are possibilities of many potential applications that can be deployed using WSNs (Wireless Sensor Networks). However, very limited applications are deployed in real life due to the uncertainty and dynamics of the environment and scare resources. This makes data management in WSN a challenging area to find an approach that suits its characteristics. Currently, the trend is to find efficient data management schemes using evolving technologies, i.e. P2P (Peer-to-Peer) systems. Many P2P approaches have been applied in WSNs to carry out the data management due to similarities between WSN and P2P. With the similarities, there are differences too that makes P2P protocols inefficient in WSNs. Furthermore, to increase the efficiency and to exploit the delay tolerant nature of WSNs, where ever possible, the mobile WSNs are gaining importance. Thus, creating a three dimensional problem space to consider, i.e. mobility, WSNs and P2P. In this paper, an efficient algorithm is proposed for data management using P2P techniques for mobile WSNs. The real world implementation and deployment of proposed algorithm is also presented. (author)

  6. Routing in Mobile Wireless Sensor Networks: A Leader-Based Approach

    Directory of Open Access Journals (Sweden)

    Unai Burgos

    2017-07-01

    Full Text Available This paper presents a leader-based approach to routing in Mobile Wireless Sensor Networks (MWSN. Using local information from neighbour nodes, a leader election mechanism maintains a spanning tree in order to provide the necessary adaptations for efficient routing upon the connectivity changes resulting from the mobility of sensors or sink nodes. We present two protocols following the leader election approach, which have been implemented using Castalia and OMNeT++. The protocols have been evaluated, besides other reference MWSN routing protocols, to analyse the impact of network size and node velocity on performance, which has demonstrated the validity of our approach.

  7. Routing in Mobile Wireless Sensor Networks: A Leader-Based Approach.

    Science.gov (United States)

    Burgos, Unai; Amozarrain, Ugaitz; Gómez-Calzado, Carlos; Lafuente, Alberto

    2017-07-07

    This paper presents a leader-based approach to routing in Mobile Wireless Sensor Networks (MWSN). Using local information from neighbour nodes, a leader election mechanism maintains a spanning tree in order to provide the necessary adaptations for efficient routing upon the connectivity changes resulting from the mobility of sensors or sink nodes. We present two protocols following the leader election approach, which have been implemented using Castalia and OMNeT++. The protocols have been evaluated, besides other reference MWSN routing protocols, to analyse the impact of network size and node velocity on performance, which has demonstrated the validity of our approach.

  8. An efficient schedule based data aggregation using node mobility for wireless sensor network

    DEFF Research Database (Denmark)

    Dnyaneshwar, Mantri; Pawar, Pranav M.; Prasad, Neeli R.

    2014-01-01

    In the Wireless Sensor Networks, (WSNs) a key challenge is to schedule the activities of the mobile node for improvement in throughput, energy consumption and delay. This paper proposes efficient schedule based data aggregation algorithm using node mobility (SDNM). It considers the cluster-based...... myopic and non-myopic scheduling scheme for conflict free schedule based on the current and next state. It uses TDMA as the MAC layer protocol and schedules the aggregated packets with consecutive slots. Simulation results show that, SDNM is energy efficient, has less delay as compared with state...

  9. Dead Reckoning Localization Technique for Mobile Wireless Sensor Networks

    OpenAIRE

    Rashid, Haroon; Turuk, Ashok Kumar

    2015-01-01

    Full paper at: http://arxiv.org/pdf/1504.06797.pdfThis paper shows how a mobile node can be localized with less than three beacon nodes. It uses a technique known as dead-reckoning for localization of nodes at specific intervals

  10. Autonomous Mobile Robot with Independent Control and ExternallyDriven Actuation

    Science.gov (United States)

    2016-10-09

    Autonomous Mobile Robot with Independent Control and Externally Driven Actuation Hanlin Wang1 and Michael Rubenstein2 Abstract— Complexity, cost, and...to create a motion controller that allows the robot to move from its current position to any other position on the table in approximately a straight...line. We show this controller working in simulation as well as on an experimental hardware system. I. INTRODUCTION Traditionally, robots used for swarm

  11. Design and Control of an Omnidirectional Mobile Robot with Steerable Omnidirectional Wheels

    OpenAIRE

    Song, Jae-Bok; Byun, Kyung-Seok

    2006-01-01

    In this chapter, an omnidirectional mobile robot with steerable omnidirectional wheels (OMRSOW) has been proposed and the kinematic and dynamic analysis of a proposed robot has been conducted. The motion control system of a robot was developed and various experiments were conducted. As a result of this research, the following conclusions are drawn. 1. The OMR-SOW has 4 DOFs which consist of 3 DOFs for omnidirectional motion and 1 DOF for steering. This steering DOF functions as a continuously...

  12. Learning to Automatically Detect Features for Mobile Robots Using Second-Order Hidden Markov Models

    Directory of Open Access Journals (Sweden)

    Richard Washington

    2008-11-01

    Full Text Available In this paper, we propose a new method based on Hidden Markov Models to interpret temporal sequences of sensor data from mobile robots to automatically detect features. Hidden Markov Models have been used for a long time in pattern recognition, especially in speech recognition. Their main advantages over other methods (such as neural networks are their ability to model noisy temporal signals of variable length. We show in this paper that this approach is well suited for interpretation of temporal sequences of mobile-robot sensor data. We present two distinct experiments and results: the first one in an indoor environment where a mobile robot learns to detect features like open doors or T- intersections, the second one in an outdoor environment where a different mobile robot has to identify situations like climbing a hill or crossing a rock.

  13. Consensus Formation Control for a Class of Networked Multiple Mobile Robot Systems

    Directory of Open Access Journals (Sweden)

    Long Sheng

    2012-01-01

    for investigating the sufficient conditions to linear control gain design for the system with constant time delays. Simulation results as well as experimental studies on Pioneer 3 series mobile robots are shown to verify the effectiveness of the proposed approach.

  14. Learning to Automatically Detect Features for Mobile Robots Using Second-Order Hidden Markov Models

    Directory of Open Access Journals (Sweden)

    Olivier Aycard

    2004-12-01

    Full Text Available In this paper, we propose a new method based on Hidden Markov Models to interpret temporal sequences of sensor data from mobile robots to automatically detect features. Hidden Markov Models have been used for a long time in pattern recognition, especially in speech recognition. Their main advantages over other methods (such as neural networks are their ability to model noisy temporal signals of variable length. We show in this paper that this approach is well suited for interpretation of temporal sequences of mobile-robot sensor data. We present two distinct experiments and results: the first one in an indoor environment where a mobile robot learns to detect features like open doors or T-intersections, the second one in an outdoor environment where a different mobile robot has to identify situations like climbing a hill or crossing a rock.

  15. Principles of designing mobile robots for nuclear applications: Some Soviet development projects

    International Nuclear Information System (INIS)

    Adamov, E.O.; Ivanov, V.G.; Meieran, H.B.

    1990-01-01

    The I.V. Kurchatov Institute of Atomic Energy and the Research and Design Institute of Power Engineering, both designers of nuclear power plant systems and located in Moscow, USSR, have collectively recognized the positive merits of utilizing mobile robots in the nuclear industry. They have given authority to their subsidiary agency CENOTECH to mount an active campaign to program the development of new generations of mobile robots that will support routine and emergency situation operations in the nuclear industry. CENOTECH's rationale for design and performance requirements of mobile robot units to be utilized in the nuclear industry is presented in this paper. A description of design, performance requirements, and operational characteristics of four mobile robots that have been developed at CENOTECH within the past 3 yr is also presented: the 2-tracked KURSOR; the 4 hybrid-wheeled TELER; the 12-wheeled BUGGY with articulated platforms; and the 2-tracked SADKO

  16. Visual Servo Tracking Control of a Wheeled Mobile Robot with a Monocular Fixed Camera

    National Research Council Canada - National Science Library

    Chen, J; Dixon, W. E; Dawson, D. M; Chitrakaran, V. K

    2004-01-01

    In this paper, a visual servo tracking controller for a wheeled mobile robot (WMR) is developed that utilizes feedback from a monocular camera system that is mounted with a fixed position and orientation...

  17. Differential-Drive Mobile Robot Control Design based-on Linear Feedback Control Law

    Science.gov (United States)

    Nurmaini, Siti; Dewi, Kemala; Tutuko, Bambang

    2017-04-01

    This paper deals with the problem of how to control differential driven mobile robot with simple control law. When mobile robot moves from one position to another to achieve a position destination, it always produce some errors. Therefore, a mobile robot requires a certain control law to drive the robot’s movement to the position destination with a smallest possible error. In this paper, in order to reduce position error, a linear feedback control is proposed with pole placement approach to regulate the polynoms desired. The presented work leads to an improved understanding of differential-drive mobile robot (DDMR)-based kinematics equation, which will assist to design of suitable controllers for DDMR movement. The result show by using the linier feedback control method with pole placement approach the position error is reduced and fast convergence is achieved.

  18. Robust finite-time tracking control of nonholonomic mobile robots without velocity measurements

    Science.gov (United States)

    Shi, Shang; Yu, Xin; Khoo, Suiyang

    2016-02-01

    The problem of robust finite-time trajectory tracking of nonholonomic mobile robots with unmeasurable velocities is studied. The contributions of the paper are that: first, in the case that the angular velocity of the mobile robot is unmeasurable, a composite controller including the observer-based partial state feedback control and the disturbance feed-forward compensation is designed, which guarantees that the tracking errors converge to zero in finite time. Second, if the linear velocity as well as the angular velocity of mobile robot is unmeasurable, with a stronger constraint, the finite-time trajectory tracking control of nonholonomic mobile robot is also addressed. Finally, the effectiveness of the proposed control laws is demonstrated by simulation.

  19. Supervisory Adaptive Network-Based Fuzzy Inference System (SANFIS Design for Empirical Test of Mobile Robot

    Directory of Open Access Journals (Sweden)

    Yi-Jen Mon

    2012-10-01

    Full Text Available A supervisory Adaptive Network-based Fuzzy Inference System (SANFIS is proposed for the empirical control of a mobile robot. This controller includes an ANFIS controller and a supervisory controller. The ANFIS controller is off-line tuned by an adaptive fuzzy inference system, the supervisory controller is designed to compensate for the approximation error between the ANFIS controller and the ideal controller, and drive the trajectory of the system onto a specified surface (called the sliding surface or switching surface while maintaining the trajectory onto this switching surface continuously to guarantee the system stability. This SANFIS controller can achieve favourable empirical control performance of the mobile robot in the empirical tests of driving the mobile robot with a square path. Practical experimental results demonstrate that the proposed SANFIS can achieve better control performance than that achieved using an ANFIS controller for empirical control of the mobile robot.

  20. Neural Network Based Reactive Navigation for Mobile Robot in Dynamic Environment

    Czech Academy of Sciences Publication Activity Database

    Krejsa, Jiří; Věchet, S.; Ripel, T.

    2013-01-01

    Roč. 198, č. 2013 (2013), s. 108-113 ISSN 1012-0394 Institutional research plan: CEZ:AV0Z20760514 Institutional support: RVO:61388998 Keywords : mobile robot * reactive navigation * artificial neural networks Subject RIV: JD - Computer Applications, Robotics

  1. Developing a Mobile Application via Bluetooth Wireless Technology for Enhancing Communication

    Directory of Open Access Journals (Sweden)

    Sahar A. Idwan

    2009-07-01

    Full Text Available This paper presents Mobile application via Bluetooth wireless technology (MAvBT that enhance the student portal in universities by connecting students' mobile phone devices to a server application that benefit from the devices Bluetooth technology and the storage abilities. MAvBT enables students to retrieve their information with minimum time and anywhere ranging from 100m up to 1Km and it facilitate the communication with instructors outside the office hours. This system consists of computer application (Server Application installed on a Bluetooth enabled computer, Mobile application (client application installed on students’ mobile phone devices, and a website that enable the instructors to edit their materials or enable the demonstrator to get some important reports. Experimental results show that the proposed system is faster, effortless, and cheaper.

  2. MHBCDA: Mobility and Heterogeneity aware Bandwidth Efficient Cluster based Data Aggregation for Wireless Sensor Network

    DEFF Research Database (Denmark)

    Dnyaneshwar, Mantri; Prasad, Neeli R.; Prasad, Ramjee

    2013-01-01

    Data Aggregation (MHBCDA) algorithm for the randomly distributed nodes. It considers the mobile sink based packet aggregation for the heterogeneous WSN. It uses predefined region for the aggregation at cluster head to minimize computation and communication cost. The MHBCDA is energy and bandwidth......Wireless Sensor Network (WSN) offers a variety of novel applications for mobile targets. It generates the large amount of redundant sensing data. The data aggregation techniques are extensively used to reduce the energy consumption and increase the network lifetime, although it has the side effect...... of reduced reliability. In the mobile environment, it is necessary to consider the techniques which minimize the communication cost with efficient bandwidth utilization by decreasing the packet count reached at the sink. This paper proposes the mobility and heterogeneity aware bandwidth efficient Cluster-based...

  3. An energy efficient multiple mobile sinks based routing algorithm for wireless sensor networks

    Science.gov (United States)

    Zhong, Peijun; Ruan, Feng

    2018-03-01

    With the fast development of wireless sensor networks (WSNs), more and more energy efficient routing algorithms have been proposed. However, one of the research challenges is how to alleviate the hot spot problem since nodes close to static sink (or base station) tend to die earlier than other sensors. The introduction of mobile sink node can effectively alleviate this problem since sink node can move along certain trajectories, causing hot spot nodes more evenly distributed. In this paper, we mainly study the energy efficient routing method with multiple mobile sinks support. We divide the whole network into several clusters and study the influence of mobile sink number on network lifetime. Simulation results show that the best network performance appears when mobile sink number is about 3 under our simulation environment.

  4. A New Markovian Prediction Scheme for Resource Reservations in Wireless Networks with Mobile Hosts

    Directory of Open Access Journals (Sweden)

    Peppino Fazio

    2012-01-01

    Full Text Available Nowadays, mobile service requests in wireless networking are aimed to the benefit of a good level of satisfaction for the received Quality of Service (QoS guarantees. In this paper, a new prediction algorithm is proposed, for the pre-reservation of passive bandwidth, when mobile users moves under radio coverage that can be considered as a cellular one (GSM, UMTS, WLAN clusters, etc.. The Hidden Markov Chains (HMC theory is used to design the predictor, as the main component of the proposed idea, that does not depend on the considered transmission technology, mobility model or vehicular scenario. Mobile ReSerVation Protocol (MRSVP has been used in order to realize the active/passive bandwidth reservation in the considered network topology. Different simulation campaigns have been carried out in order to appreciate the benefits of the proposed idea.

  5. 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.

  6. Design of Wheeled Mobile Robot with Tri-Star Wheel as Rescue Robot

    Directory of Open Access Journals (Sweden)

    Rafiuddin Syam

    2014-10-01

    Full Text Available This study aims to design, and analyze a mobile robot that can handle some of the obstacles, they are uneven surfaces, slopes, can also climb stairs. WMR in this study is Tristar wheel that is containing three wheels for each set. On average surface only two wheels in contact with the surface, if there is an uneven surface or obstacle then the third wheel will rotate with the rotation center of the wheel in contact with the leading obstacle then only one wheel in contact with the surface. This study uses the C language program. Furthermore, the minimum thrust to be generated torque of the motor and transmission is 9.56 kg. The results obtained by calculation and analysis of DC motors used must have a torque greater than 14.67 kg.cm. Minimum thrust to be generated motor torque and the transmission is 9.56 kg. The experimental results give good results for robot to moving forward, backward, turn left, turn right and climbing the stairs.

  7. Biological Immune System Applications on Mobile Robot for Disabled People

    Directory of Open Access Journals (Sweden)

    Songmin Jia

    2014-01-01

    Full Text Available To improve the service quality of service robots for the disabled, immune system is applied on robot for its advantages such as diversity, dynamic, parallel management, self-organization, and self-adaptation. According to the immune system theory, local environment condition sensed by robot is considered an antigen while robot is regarded as B-cell and possible node as antibody, respectively. Antibody-antigen affinity is employed to choose the optimal possible node to ensure the service robot can pass through the optimal path. The paper details the immune system applications on service robot and gives experimental results.

  8. An object orient program specification for a mobile robot motion control language

    OpenAIRE

    Grim, Carl Joseph

    1993-01-01

    Approved for public release; distribution is unlimited The Yamabico Research Group at the Naval Postgraduate School is actively pursuing improvements in design and implementation of applications for it's family of autonomous mobile robots. This paper describes a new high level language for controlling the Yamabico- 11, surnamed OOPS-MML (Object-Oriented Program Specification for a Mobile robot Motion control Language). Conceptual goals included a user friendly, high level inter...

  9. Non-destructive testing and condition monitoring with mobile wall climbing and swimming robots

    OpenAIRE

    Sattar, T

    2014-01-01

    Reliable Non Destructive Testing (NDT) is vital to the integrity, performance management and sustainability of capital assets in safety critical industries such as oil and gas, aerospace, transportation, power generation and off-shore and subsea operations. The talk will explore opportunities to improve the NDT of industrial structures and decrease the cost of inspection by automating the NDT with mobile robots. The challenges of developing mobile wall climbing and submersible robots will be ...

  10. Exhaustive geographic search with mobile robots along space-filling curves

    Energy Technology Data Exchange (ETDEWEB)

    Spires, S.V.; Goldsmith, S.Y.

    1998-03-01

    Swarms of mobile robots can be tasked with searching a geographic region for targets of interest, such as buried land mines. The authors assume that the individual robots are equipped with sensors tuned to the targets of interest, that these sensors have limited range, and that the robots can communicate with one another to enable cooperation. How can a swarm of cooperating sensate robots efficiently search a given geographic region for targets in the absence of a priori information about the target`s locations? Many of the obvious approaches are inefficient or lack robustness. One efficient approach is to have the robots traverse a space-filling curve. For many geographic search applications, this method is energy-frugal, highly robust, and provides guaranteed coverage in a finite time that decreases as the reciprocal of the number of robots sharing the search task. Furthermore, it minimizes the amount of robot-to-robot communication needed for the robots to organize their movements. This report presents some preliminary results from applying the Hilbert space-filling curve to geographic search by mobile robots.

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

    Directory of Open Access Journals (Sweden)

    Nirmala Nirmala

    2015-05-01

    Full Text Available The purpose of this work is to study and analyze mobile robot behavior. In performing this, a framework is adopted and developed for mobile and bipedal robot. The robots are design, build, and run as proceed from the development of mechanical structure, electronics and control integration, and control software application. The behavior of those robots are difficult to be observed and analyzed qualitatively. To evaluate the design and behavior quality, modeling and simulation of robot structure and its task capability is performed. The stepwise procedure to robot behavior study is explained. Behavior cases study are experimented to bipedal robots, transporter robot and Autonomous Guided Vehicle (AGV developed at our institution. The experimentation are conducted on those robots by adjusting their dynamic properties and/or surrounding environment. Validation is performed by comparing the simulation result and the real robot execution. The simulation gives a more idealistic behavior execution rather than realistic one. Adjustments are performed to fine tuning simulation's parameters to provide a more realistic performance.

  12. Design and Analysis of a Data Fusion Scheme in Mobile Wireless Sensor Networks Based on Multi-Protocol Mobile Agents.

    Science.gov (United States)

    Wu, Chunxue; Wu, Wenliang; Wan, Caihua; Bekkering, Ernst; Xiong, Naixue

    2017-11-03

    Sensors are increasingly used in mobile environments with wireless network connections. Multiple sensor types measure distinct aspects of the same event. Their measurements are then combined to produce integrated, reliable results. As the number of sensors in networks increases, low energy requirements and changing network connections complicate event detection and measurement. We present a data fusion scheme for use in mobile wireless sensor networks with high energy efficiency and low network delays, that still produces reliable results. In the first phase, we used a network simulation where mobile agents dynamically select the next hop migration node based on the stability parameter of the link, and perform the data fusion at the migration node. Agents use the fusion results to decide if it should return the fusion results to the processing center or continue to collect more data. In the second phase. The feasibility of data fusion at the node level is confirmed by an experimental design where fused data from color sensors show near-identical results to actual physical temperatures. These results are potentially important for new large-scale sensor network applications.

  13. Design and Analysis of a Data Fusion Scheme in Mobile Wireless Sensor Networks Based on Multi-Protocol Mobile Agents

    Directory of Open Access Journals (Sweden)

    Chunxue Wu

    2017-11-01

    Full Text Available Sensors are increasingly used in mobile environments with wireless network connections. Multiple sensor types measure distinct aspects of the same event. Their measurements are then combined to produce integrated, reliable results. As the number of sensors in networks increases, low energy requirements and changing network connections complicate event detection and measurement. We present a data fusion scheme for use in mobile wireless sensor networks with high energy efficiency and low network delays, that still produces reliable results. In the first phase, we used a network simulation where mobile agents dynamically select the next hop migration node based on the stability parameter of the link, and perform the data fusion at the migration node. Agents use the fusion results to decide if it should return the fusion results to the processing center or continue to collect more data. In the second phase. The feasibility of data fusion at the node level is confirmed by an experimental design where fused data from color sensors show near-identical results to actual physical temperatures. These results are potentially important for new large-scale sensor network applications.

  14. Dynamic Fuzzy-Logic Based Path Planning for Mobility-Assisted Localization in Wireless Sensor Networks.

    Science.gov (United States)

    Alomari, Abdullah; Phillips, William; Aslam, Nauman; Comeau, Frank

    2017-08-18

    Mobile anchor path planning techniques have provided as an alternative option for node localization in wireless sensor networks (WSNs). In such context, path planning is a movement pattern where a mobile anchor node's movement is designed in order to achieve a maximum localization ratio possible with a minimum error rate. Typically, the mobility path planning is designed in advance, which is applicable when the mobile anchor has sufficient sources of energy and time. However, when the mobility movement is restricted or limited, a dynamic path planning design is needed. This paper proposes a novel distributed range-free movement mechanism for mobility-assisted localization in WSNs when the mobile anchor's movement is limited. The designed movement is formed in real-time pattern using a fuzzy-logic approach based on the information received from the network and the nodes' deployment. Our proposed model, Fuzzy-Logic based Path Planning for mobile anchor-assisted Localization in WSNs (FLPPL), offers superior results in several metrics including both localization accuracy and localization ratio in comparison to other similar works.

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

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1999-05-01

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

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

    International Nuclear Information System (INIS)

    1999-05-01

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

  17. Fuzzy controller for the control of the mobile platform of the CORBYS robotic gait rehabilitation system

    OpenAIRE

    Kyrarini, Maria; Slavnić, Siniša; Ristić-Durrant, Danijela

    2014-01-01

    In this paper, an inverse kinematics based control algorithm for the joystick control of the mobile platform of the novel mobile robot-assisted gait rehabilitation system CORBYS is presented. The mobile platform has four independently steered and driven wheels. Given the linear and angular velocities of the mobile platform, the inverse kinematics algorithm gives as its output the steering angle and the driving angular velocity of each of the four wheels. The paper is focused on the steering c...

  18. Real-time Cooperative Behavior for Tactical Mobile Robot Teams

    Science.gov (United States)

    2001-02-01

    Swiss Federal Institute of Technology) to provide feedback during teleoperation of a small Koala Robot (Figure 47). The robot is equipped with...perception of driving across uneven terrain or through minor obstruc- tions, humps, etc. Figure 47: Koala robot used for teleoperation with

  19. Adaptive control schemes for mobile robot formations with triangularised structures

    NARCIS (Netherlands)

    Guo, J.; Lin, Z.; Cao, M.; Yan, G.

    The study investigates the leader-follower formation control problem, for which the objective is to control a group of robots such that they move as a rigid formation with a prescribed constant velocity. It is assumed in the study that there are two leader robots, who are the only robots in the

  20. RACOON: a multiuser QoS design for mobile wireless body area networks.

    Science.gov (United States)

    Cheng, Shihheng; Huang, Chingyao; Tu, Chun Chen

    2011-10-01

    In this study, Random Contention-based Resource Allocation (RACOON) medium access control (MAC) protocol is proposed to support the quality of service (QoS) for multi-user mobile wireless body area networks (WBANs). Different from existing QoS designs that focus on a single WBAN, a multiuser WBAN QoS should further consider both inter-WBAN interference and inter-WBAN priorities. Similar problems have been studied in both overlapped wireless local area networks (WLANs) and Bluetooth piconets that need QoS supports. However, these solutions are designed for non-medical transmissions that do not consider any priority scheme for medical applications. Most importantly, these studies focus on only static or low mobility networks. Network mobility of WBANs will introduce unnecessary inter-network collisions and energy waste, which are not considered by these solutions. The proposed multiuser-QoS protocol, RACOON, simultaneously satisfies the inter WBAN QoS requirements and overcomes the performance degradation caused by WBAN mobility. Simulation results verify that RACOON provides better latency and energy control, as compared with WBAN QoS protocols without considering the inter-WBAN requirements.