Mobile robot formations differ in accordance to the mission, environment and robot abilities. In the case of decentralized control, the ability to achieve the shapes of these formations has to be ...built in the controllers of each autonomous robot. In this paper two types of basic formations are investigated: self-organizing and geometric. Leader follower approach is applied for controllers design to drive the robots toward the goal. Simulations show that that self-organizing formations tend toward platoon formation. Geometric formations approach is also simulated for the case of V-formations passing through a passage. The results confirm the ability of velocity potential approach for motion control of both self-organizing and geometric formations
This paper analyzes several control schemes for nonholonomic vehicles (mobile robots with differential rear wheels) in stabilization and leader - follower manoeuvres. Extensive simulation studies ...have been conducted to evaluate the performance of existing control schemes and to test new control schemes suggested in this paper. The results for nonholomic vehicles show that polar coordinates control is effective for a variety of initial conditions of the follower, both in stabilization and in tracking.
In this paper online monitoring issues for infrastructure disaster preparedness was analyzed taking into account the difficulties in monitoring due to ill-posed inverse problems. For this case of ...real-time sensing followed by online inverse problem solving was investigated. Difficulties resulting from the ill-posed problem of estimation of internal variables of a distributed parameters system from local measurements on the boundary of the system will be analyzed using a generic simulator developed for such problems. The paper illustrates these issues by focusing on monitoring explosions to be sensed in real-time using distance temperature sensing, away from explosion location and online reconstruction of the explosion parameter
This paper presents a navigation of an autonomous robot using simultaneous localization and mapping (SLAM) in outdoor environments. SLAM is a method in which localization and mapping are done ...simultaneously in an unknown environment without an access to a priori map. This paper introduces a probabilistic approach to a SLAM problem under Gaussian and non-Gaussian conditions and offers alternative solutions. First, an extended Kalman filter algorithm for the SLAM problem under Gaussian condition will be shown. Also, an alternative way of dealing with SLAM problem with assumption of non-Gaussian and called FastSLAM will be analyzed. FastSLAM is an algorithm that using Rao-Blackwellised method for particle filtering, estimates the path of robot while the landmarks positions which are mutually independent and with no correlation, can be estimated by EKF. This is done using a factorization that fits very well into SLAM problem based on a Bayesian network. In this paper, a real outdoor autonomous robot is presented and several experiments have been performed based on both methods. The experimental results are discussed and compared.
It is expected that an Inertial Navigation System (INS), when used on a land vehicle, would provide a superior position estimate to that which would be determined using odometry. There are a number ...of benefits to using odometry as opposed to an INS technique, including high physical robustness and reliability of the encoders, low weight, power consumption and cost, and a zero time-dependent drift. It would seem logical to include some form of odometry on any autonomous surface vehicle. If an INS technique is to be implemented, then it follows that an attempt should be made to improve the overall system performance by combining INS and odometry signals into an optimal, or at least more robust, estimation system.
Fuzzy logic temperature controller for small robots Jebelli, A.; Kanavallil, V.; Necsulescu, D. ...
2013 IEEE Workshop on Robotic Intelligence in Informationally Structured Space (RiiSS),
2013-April
Conference Proceeding
Malfunctions in a working robot system are serious factors which can result in deviations from the desired goals. Among these, temperature increase over safe values is one of the most important ...factors that can limit the usage of available energy. The heat generated from motors and batteries can damage the electrical systems and affect the overall performance. This results in the need to control and maximize the utilization of supplied energy from batteries. In this paper, the authors designed an intelligent system to control temperature thus preventing system malfunction due to overheating in insulated robots, such as underwater robots. This temperature controller works in parallel with the robot motion controller. The proposed temperature control system uses fuzzy logic as a control layer system. It has been adopted to avoid system errors and efficiently use the energy available. The system is developed using fans, heaters and fuzzy logic circuits for achieving an energy efficient robot with long-term high performance.
Remote multisensing problem results from the use a variety of instruments in non-collocated measurement of time varying quantities. Variables measured by multiple sensors h ave to b e associated with ...spatial coordinates and synchronized in time. Sensors outputs are, however, dependent not only on the inputs from measured variables, but also by the instrument inner dynamics. Sensor fusion is accurate only if it uses signals with properly calibrated magnitudes and with the same phase shifts. An effective approach for achieving these requirements is dynamic calibration of individual sensors output signals. This paper investigates dynamic calibration as an inverse problem and proposes to use the solutions developed for such problems. Numerical results illustrate the benefits of dynamic calibration for remote sensing.
Abstract
Lithium-ion batteries (LIBs) are use in electric devices such as phones, cameras, laptops, etc. and also for electric automotive propulsion. More consumption means more amount of scrap. The ...wastes of LIBs contain rare and high value metals: Co (32 $/kg), Li, Ni, Cu, Al. Many recycling processes were developed with the purpose of recovering metals contained in used batteries. This paper presents a method for separation active cathodic paste (containing LiCoO
2
compound) from the aluminum cathode using a solution of lactic acid and an ultrasonic bath. Cathodic paste has been detached from aluminum foils and analyzed by scanning electron microscopy (SEM) and X-ray diffractometry. The effects of the lactic acid concentration and the power of ultrasonic bath on separation efficiency were investigated.
The paper presents a solution to dynamic calibration of sensors for precise remote monitoring and control for teleoperation. The solution is based on the inverse dynamics of sensors and signal ...transmission system. The method is formulated theoretically, and then is exemplified for multi-sensor acceleration measurements. In the first example, robot arm control using joint acceleration feedback is analyzed for the case without and with dynamic calibration of sensors using inverse dynamics. In the second example, pure delay compensation is discussed for the case of INS and GPS signal fusion for flight control.
An important issue in the development of rotary joints is to provide the required compliance between the rigid links. The goal of this work presented in this paper is to present solutions to ...instrumented compliance for a tendon driven spherical robot joint. The solutions are based on a combination of active compliance, created by the actuator-controller subsystem, and piecewise linear passive compliance based on switching passive springs. Preliminary simulation and experimental results illustrate the performance for the case of a single DOF rotary joint
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