This paper describes an indoor Active Sensor Network, focussing on the implementation aspects of the system, including communication and the application framework. To make the system description more tangible we descr...
详细信息
ISBN:
(纸本)3540288163
This paper describes an indoor Active Sensor Network, focussing on the implementation aspects of the system, including communication and the application framework. To make the system description more tangible we describe the latest in a series of indoor experiments implemented using ASN. The task is to detect and map motion of people (and robots) in an office space using a network of 12 stationary sensors. The network was operational for several days, with individual platform coming on and off line. On several occasions the network consisted of 39 components. The paper includes a section on the lessons learned during the project's design and development which may be applicable to other heterogeneous distributed systems with data-intensive algorithms.
This paper presents methods for cooperative mapping of partially or totally unknown area with human and robotic explorers. Mapping is supported with online modelling of presence, which will create a common understandi...
详细信息
ISBN:
(纸本)3540328017
This paper presents methods for cooperative mapping of partially or totally unknown area with human and robotic explorers. Mapping is supported with online modelling of presence, which will create a common understanding of the environment for both humans and robots. The studied key methods are human navigation without ready installed beacons, human and robotic SLAM, cooperative localization and cooperative map/model building for common presence. Methods are developed, tested and integrated in a European Community research project called PeLoTe.
The mobile robot which traverses on a rough terrain, should have an ability to recognize the shape of the ground surface and to examine the traversability by itself Even if the robot is remotely controlled by operator...
详细信息
ISBN:
(纸本)3540328017
The mobile robot which traverses on a rough terrain, should have an ability to recognize the shape of the ground surface and to examine the traversability by itself Even if the robot is remotely controlled by operator, such an ability is still very important to save the operator's load and to keep safety. For this purpose, the robot measures the front ground, and generate the local elevation map which represents the area where the robot is going to pass, and examines that the wheels can pass through and the bottom surface of robot body dose not contact with ground. This paper reports a simple method of traversability test for the wheeled mobile robot and show an experimental system with some results.
Robotic ground vehicles are systems that use gravity and contact forces with the ground to perform motion. In this paper we will focus on n-wheeled vehicles able to perform motion with all the wheels maintaining conta...
详细信息
ISBN:
(纸本)3540328017
Robotic ground vehicles are systems that use gravity and contact forces with the ground to perform motion. In this paper we will focus on n-wheeled vehicles able to perform motion with all the wheels maintaining contact at the same time. The main goal of this work is to establish the implication of the topological architecture of the vehicle mechanism on criteria such as climbing skills, robustness, weight, power consumption, and price. Tools will be provided to help the robot designer to understand the implications of important design parameters like the number of wheels, the vehicle mechanism, and the motorisation of joints on the above criteria. Two examples of innovative locomotion concepts for rough terrain are presented and discussed.
Mining operations depend on current, accurate maps of adjacent mine works to limit the risks of encroachment and breaching. Adjacent mines may be decades or centuries old with missing, inaccurate, or ambiguous maps. D...
详细信息
ISBN:
(纸本)3540328017
Mining operations depend on current, accurate maps of adjacent mine works to limit the risks of encroachment and breaching. Adjacent mines may be decades or centuries old with missing, inaccurate, or ambiguous maps. Dangers such as flooding, roof-fall, rotten support timbers, and poor ventilation preclude human entry to survey these spaces. Only robots may enter and directly observe these otherwise inaccessible underground voids, providing incontrovertible evidence of the mine's existence and extent. This presents the configuration of a mobile mine mapping robot, Groundhog, and results from three deployments into coal mines.
This paper describes recent advances in the development of an integrated inertial guidance system for automation of the longwall coal mining process. Significant advances in longwall automation are being achieved thro...
详细信息
ISBN:
(纸本)3540328017
This paper describes recent advances in the development of an integrated inertial guidance system for automation of the longwall coal mining process. Significant advances in longwall automation are being achieved through an industry sponsored project which targets productivity and safety benefits. Stabilised inertial navigation techniques are being successfully employed to accurately measure the three-dimensional path of the longwall shearer. This enabling technology represents a breakthrough in achieving practical and reliable automated face alignment. This paper also describes a specification for the interconnection of underground mining equipment based on the newly developed EtherNet/IP control and information protocol which ensures equipment compatibility across multi-vendor components of the automation system.
Dynamic stability is an important issue for vehicles which move heavy loads, turn at speed, or operate on sloped terrain. In many cases, vehicles face more than one of these challenges simultaneously. This paper prese...
详细信息
ISBN:
(纸本)3540328017
Dynamic stability is an important issue for vehicles which move heavy loads, turn at speed, or operate on sloped terrain. In many cases, vehicles face more than one of these challenges simultaneously. This paper presents a methodology for deriving proximity to tipover for autonomous field robots, which must be productive, effective, and self reliant under such challenging circumstances. The technique is based on explicit modeling of mass articulations and determining the motion of the center of gravity, as well as the attitude, in an optimal estimation framework. Inertial sensing, articulation sensing, and terrain relative motion sensing are employed. The implementation of the approach on a commercial industrial lift truck is presented.
This paper describes the construction of a 3-D model from the identification of geometrical parameters of polyhedral objects during a force-controlled task. Following improvements with respect to the state of the art ...
详细信息
ISBN:
(纸本)3540288163
This paper describes the construction of a 3-D model from the identification of geometrical parameters of polyhedral objects during a force-controlled task. Following improvements with respect to the state of the art axe made: (i) creation of a 3-D model from a previously unknown environment, (ii) force estimation for feedback to a force controller or for monitoring contact forces, (iii) reduction of the number of modelling parameters, leading to computational reduction and more accurate geometric descriptions.
This is the first successful trial in the world to remotely control a humanoid robot so as to drive an industrial vehicle in lieu of a human operator. These results were achieved thanks to the development of the follo...
详细信息
ISBN:
(纸本)3540288163
This is the first successful trial in the world to remotely control a humanoid robot so as to drive an industrial vehicle in lieu of a human operator. These results were achieved thanks to the development of the following three technologies: (1) "remote control technology" for instructing the humanoid to perform total body movements under remote control and the "remote control system" for executing the remote control tasks;(2) "protection technology" for protecting the humanoid against shock and vibrations of its operating seat and against the influences of the natural environment such as rain and dust;and (3) "full-body operation control technology" for controlling the humanoid's total body movements with autonomous control to prevent the robot from falling over. The humanoid has promising application potential for restoration work in environments struck by catastrophes and in civil engineering and construction project sites where it can "work" safely and smoothly.
This paper proposes wave-shape pattern control method for whole-body deformable robots containing electroactive polymers. Mechanisms consisting of a typical electroactive polymer gel containing poly 2-acrylamido-2-met...
详细信息
ISBN:
(数字)9783540330141
ISBN:
(纸本)3540288163
This paper proposes wave-shape pattern control method for whole-body deformable robots containing electroactive polymers. Mechanisms consisting of a typical electroactive polymer gel containing poly 2-acrylamido-2-methylpropane sulfonic acid (PAMPS), named 'gel robots', have been designed, developed, and controlled experimentally. We faced a common problem called, the degrees-of-freedom problem, namely controlling many points on the gel surface with a small number of inputs. In order to solve the problem, we once reduced the number of inputs to one, and discovered that wave-shape pattern evolves for the beam-shaped gel even in a constant uniform electric field. This method makes use of the pattern formation. Wave-shaped gels with varying curvature are obtained by switching the polarity of a spatially uniform electric field. The method is verified through experiments which are carefully designed based on numerical simulations.
暂无评论