Perkembangan teknologi di bidang otomatisasi dan robotika berkembang sangat pesat, karena memiliki tingkat efesiensi tinggi dari segi tenaga dan waktu. Pada sistem pergudangan, salah satu robot yang ...digunakan adalah Automated Guided Vehicle (AGV). AGV adalah alat transportasi berupa robot yang dikendalikan secara otomatis, yang berfungsi sebagai pengangkut barang, dengan menggunakan sistem navigasi agar bergerak ke arah yang telah ditentukan. Salah satu sistem navigasi AGV yang telah ada ialah dengan mengikuti pola garis pada lantai. Sistem tersebut kurang efisien karena lambat laun pola garis tersebut akan pudar dan tidak dapat terdeteksi kembali akibat gaya gesek dari roda AGV itu sendiri. Oleh karena itu, sangat diperlukan pengembangan sistem navigasi AGV untuk meminimalkan hambatan tersebut. Sistem pattern recognition ini menggunakan pola yang diletakkan pada langit-langit bangunan dan kamera sebagai sensor yang menghadap ke atas sehingga AGV mampu dengan leluasa mendeteksi pola. Kemudian, pola yang sudah terdeteksi diolah melalui perangkat komputer berupa Raspberry Pi 4 Model B yang telah diprogram. Hasil pengujian menunjukkan bahwa sistem ini mampu mendeteksi posisi dan berhasil menampilkan titik koordinat (x,y) dari AGV serta akan tetap berjalan sampai kapan pun hingga program diubah sesuai yang diperintahkan.
Robust optimization is still a relatively new approach to optimization problems affected by uncertainty, but it has already proved so useful in real applications that it is difficult to tackle such ...problems today without considering this powerful methodology. Written by the principal developers of robust optimization, and describing the main achievements of a decade of research, this is the first book to provide a comprehensive and up-to-date account of the subject. Robust optimization is designed to meet some major challenges associated with uncertainty-affected optimization problems: to operate under lack of full information on the nature of uncertainty; to model the problem in a form that can be solved efficiently; and to provide guarantees about the performance of the solution.
Safe Robot Navigation Among Moving and Steady Obstacles is the first book to focus on reactive navigation algorithms in unknown dynamic environments with moving and steady obstacles. The first three ...chapters provide introduction and background on sliding mode control theory, sensor models, and vehicle kinematics. Chapter 4 deals with the problem of optimal navigation in the presence of obstacles. Chapter 5 discusses the problem of reactively navigating. In Chapter 6, border patrolling algorithms are applied to a more general problem of reactively navigating. A method for guidance of a Dubins-like mobile robot is presented in Chapter 7. Chapter 8 introduces and studies a simple biologically-inspired strategy for navigation a Dubins-car. Chapter 9 deals with a hard scenario where the environment of operation is cluttered with obstacles that may undergo arbitrary motions, including rotations and deformations. Chapter 10 presents a novel reactive algorithm for collision free navigation of a nonholonomic robot in unknown complex dynamic environments with moving obstacles. Chapter 11 introduces and examines a novel purely reactive algorithm to navigate a planar mobile robot in densely cluttered environments with unpredictably moving and deforming obstacles. Chapter 12 considers a multiple robot scenario. For the Control and Automation Engineer, this book offers accessible and precise development of important mathematical models and results. All the presented results have mathematically rigorous proofs. On the other hand, the Engineer in Industry can benefit by the experiments with real robots such as Pioneer robots, autonomous wheelchairs and autonomous mobile hospital. * First book on collision free reactive robot navigation in unknown dynamic environments * Bridges the gap between mathematical model and practical algorithms * Presents implementable and computationally efficient algorithms of robot navigation * Includes mathematically rigorous proofs of their convergence * A detailed review of existing reactive navigation algorithm for obstacle avoidance * Describes fundamentals of sliding mode control
This self-contained introduction to the distributed control of robotic networks offers a distinctive blend of computer science and control theory. The book presents a broad set of tools for ...understanding coordination algorithms, determining their correctness, and assessing their complexity; and it analyzes various cooperative strategies for tasks such as consensus, rendezvous, connectivity maintenance, deployment, and boundary estimation. The unifying theme is a formal model for robotic networks that explicitly incorporates their communication, sensing, control, and processing capabilities--a model that in turn leads to a common formal language to describe and analyze coordination algorithms.
Suzbijanje korova jedan je od najvažnijih čimbenika u svim poljoprivrednim biljnim proizvodnjama, a osobito u ratarskoj proizvodnji zbog velikih površina na kojima se ona odvija. Nakon otkrića visoko ...učinkovitih herbicida suzbijanje korova u poljoprivredi godinama se provodilo gotovo isključivo kemijskim metodama, ali intenzivna uporaba kemijskih sredstava je rezultirala značajnim negativnim učincima na okoliš i ljudsko zdravlje. Veliki napredak u elektronici i računalnim tehnologijama te razvoj sustava za navođenje vozila zajedno s uvođenjem precizne poljoprivrede su otvorili mogućnost korištenja robota u suzbijanju korova. Posljednjih godina su razvijeni robotski sustavi s različitim metodama suzbijanja korova kao što su selektivna kemijska aplikacija, mehaničko uklanjanje korova, korištenje plamena, pare, električnog pražnjenja i lasera. U radu su navedeni primjeri različitih izvedbi robota za suzbijanje korova.
Introduction to Mobile Robot Control provides a complete and concise study of modeling, control, and navigation methods for wheeled non-holonomic and omnidirectional mobile robots and manipulators. ...The book begins with a study of mobile robot drives and corresponding kinematic and dynamic models, and discusses the sensors used in mobile robotics. It then examines a variety of model-based, model-free, and vision-based controllers with unified proof of their stabilization and tracking performance, also addressing the problems of path, motion, and task planning, along with localization and mapping topics. The book provides a host of experimental results, a conceptual overview of systemic and software mobile robot control architectures, and a tour of the use of wheeled mobile robots and manipulators in industry and society.Introduction to Mobile Robot Control is an essential reference, and is also a textbook suitable as a supplement for many university robotics courses. It is accessible to all and can be used as a reference for professionals and researchers in the mobile robotics field. Clearly and authoritatively presents mobile robot conceptsRichly illustrated throughout with figures and examplesKey concepts demonstrated with a host of experimental and simulation examplesNo prior knowledge of the subject is required; each chapter commences with an introduction and background
Moždani udar vodeći je uzrok stečene invalidnosti koji značajno narušava kvalitetu života oboljelih te zahtijeva dugotrajnu rehabilitaciju. Danas znamo da je poticanje vlastitih mehanizama ...reorganizacije neuronskih mreža u ranim fazama nakon moždanog udara ključno za dobar oporavak. Cilj neurorehabilitacije mora biti poticanje spontanog oporavka za koji znamo da je najizraženiji u ranoj fazi nakon moždanog udara. Neurorehabilitacija mora započeti odmah tijekom akutnog liječenja i nastavlja se prema rehabilitacijskim protokolima ovisno o težini kliničke slike, a provodi se u akutnim odjelima, specijalnim bolnicama i u kući. U planiranju rehabilitacijskih postupaka važna je početna procjena funkcionalnog statusa kao i klinička procjena oporavka tijekom provođenja rehabilitacije. Stjecanje i održavanje funkcionalne neovisnosti odnosno poboljšanje kvalitete života nakon moždanog udara mjerene različitim skalama pokazatelj je uspješnog oporavka. Danas, osim kineziterapije i tjelesne aktivnosti kao standardnih procedura neurorehabilitacije, postoji veliko zanimanje i za primjenu modernih tehnologija poput robota i virtualne stvarnosti s ciljem oporavka u motoričkoj, kognitivnoj i afektivnoj domeni. Zbog demografskih promjena, sve većeg starenja stanovništva, učinkovitije prevencije i akutnog liječenja moždanog udara, može se očekivati i veći broj preživjelih invalidnih osoba u skoroj budućnosti. Razvoj novih i učinkovitih metoda rehabilitacije zato mora biti naš prioritet.
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