this article studies the use of task partitioning as a way to reduce interference in a spatially constrained harvesting task. Interference is one of the key problems in large cooperating groups. We present a simple me...
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ISBN:
(纸本)9789896740009
this article studies the use of task partitioning as a way to reduce interference in a spatially constrained harvesting task. Interference is one of the key problems in large cooperating groups. We present a simple method to allocate individuals of a robotic swarm to a partitioned task, and show that task partitioning can increase system performance by reducing sources of interference. the method is experimentally studied, both in an environment with a narrow area and an environment without this constraint. the results are analyzed and compared to the case in which task partitioning is not employed.
Single-sided air-coupled ultrasonic inspection has some beneficial properties compared to water-coupled ultrasonic inspection or double-sided ultrasonic testing. the absence of the need for water leads to easier proce...
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ISBN:
(纸本)9789897583803
Single-sided air-coupled ultrasonic inspection has some beneficial properties compared to water-coupled ultrasonic inspection or double-sided ultrasonic testing. the absence of the need for water leads to easier process handling on the one hand e.g. when manufacturing aircraft components. On the other hand, because the process is single-sided, reachability is a minor problem compared to double-sided testing and end-effectors and fixtures can be designed in a less complex and more compact way. However, the nature of lamb waves requires that the geometrical relation of the transmitter and the receiver varies during the inspection process. In this paper, a prototype of an adaptive end-effector is introduced that was developed to implement this requirement and results of first evaluation tests are presented.
this paper describes a mobile robotic platform and a software framework for applications and development of robotic experiments integrating teleoperation. and autonomy. An application using supervised learning is deve...
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ISBN:
(纸本)9789728865832
this paper describes a mobile robotic platform and a software framework for applications and development of robotic experiments integrating teleoperation. and autonomy. An application using supervised learning is developed in which the agent is trained by teleoperation. this allows the agent to learn the perception to action mapping from the teleoperator in real time, such that the task can be repeated in an autonomous way, with some generalization. A radial basis function network (RBF) trained by a sequential learning algorithm is used to learn the mapping. Experimental results are shown.
the ANSER project (Airport Night Surveillance Expert Robot) is described, exploiting a mobile robot for autonomous surveillance in civilian airports and similar wide outdoor areas. the paper focuses on the localizatio...
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ISBN:
(纸本)9789728865832
the ANSER project (Airport Night Surveillance Expert Robot) is described, exploiting a mobile robot for autonomous surveillance in civilian airports and similar wide outdoor areas. the paper focuses on the localization subsystem of the patrolling robot, composed of a non-differential GPS unit and a laser rangefinder for map-based localization (inertial sensors are absent). Moreover, it shows that an augmented state vector approach and an Extended Kalman filter can be successfully employed to estimate the colored components in GPS noise, thus getting closer to the conditions for the EKF to be applicable.
"Growing Functional Modules" constitutes a prospective paradigm founded on the epigenetic approach whose proposal consists in designing a distributed architecture, based on interconnected modules, that allow...
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ISBN:
(纸本)9789728865825
"Growing Functional Modules" constitutes a prospective paradigm founded on the epigenetic approach whose proposal consists in designing a distributed architecture, based on interconnected modules, that allows the automatic generation of an autonomous and adaptive controller (artificial brain). the present paper introduces a new module designed to trigger causal inference;its functionality is discussed and its behavior is illustrated applying the module to solve the problem of a dynamic maze.
this paper presents the control of an aerial manipulation system with a quadrotor and a 2-DOF robotic arm by using the computed torque control method. the kinematic and dynamic model of the system is obtained by model...
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ISBN:
(纸本)9789897583803
this paper presents the control of an aerial manipulation system with a quadrotor and a 2-DOF robotic arm by using the computed torque control method. the kinematic and dynamic model of the system is obtained by modeling the quadrotor and the robotic arm as a unified system. then, the equation of motion of the unified system is got in the form of a standard robot dynamics equation. For the trajectory control of the system, computed torque control is used. Gains of the controller are optimized by using nonlinear least squares method. the performance and stability of the control structure are tested with a simulation case study.
A three-inch diameter Micro Autonomous Underwater Vehicle(Micro AUV) control system was designed and developed, of which the hardware and software control platform based on the MOOS System and BeagleBone Black as the ...
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A key capability of any indoor service robot is to explore arbitrary, unknown environments in order to record a complete and correct map in minimal time. Such a map is a prerequisite of common tasks like surveillance,...
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ISBN:
(纸本)9789897581984
A key capability of any indoor service robot is to explore arbitrary, unknown environments in order to record a complete and correct map in minimal time. Such a map is a prerequisite of common tasks like surveillance, transportation as well as search and rescue. In recent years a series of solutions has been proposed by the authors: a dynamic enhancement of the frontier-based approach, ground plan-based exploration and a hybrid combination of both. this paper evaluates the performance of each of these strategies within an everyday office scenario in simulation and reality and discusses their pros and cons.
this research is devoted to solving the problem of adaptive control algorithm synthesis for a mobile robots that is part of a multi-agent system. Proposed approach consists of trajectory planner and inner agent contro...
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ISBN:
(纸本)9789897583803
this research is devoted to solving the problem of adaptive control algorithm synthesis for a mobile robots that is part of a multi-agent system. Proposed approach consists of trajectory planner and inner agent controller. the case of the passway intersection by the group of mobile robots is considered. Trajectory planner is based on intersection management approach. Adaptive consecutive compensator used for agent controller synthesis. Proposed approach provides control scheme which doesn't depend on plant parameters. A group of mobile robots is built for experimental evaluation of proposed approach. Obtained results confirm effectiveness of the developed algorithms.
Flying manipulators are aerial drones with attached rigid-bodied robotic arms and belong to the latest and most actively developed research areas in robotics. the rigid nature of these arms often lack compliance, flex...
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ISBN:
(纸本)9781665408288
Flying manipulators are aerial drones with attached rigid-bodied robotic arms and belong to the latest and most actively developed research areas in robotics. the rigid nature of these arms often lack compliance, flexibility, and smoothness in movement. this work proposes to use a soft-bodied robotic arm attached to an omnidirectional micro aerial vehicle (OMAV) to leverage the compliant and flexible behavior of the arm, while remaining maneuverable and dynamic thanks to the omnidirectional drone as the floating base. the unification of the arm withthe drone poses challenges in the modeling and control of such a combined platform;these challenges are addressed withthis work. We propose a unified model for the flying manipulator based on three modeling principles: the Piecewise Constant Curvature (PCC) and Augmented Rigid Body Model (ARBM) hypotheses for modeling soft continuum robots and a floating-base approach borrowed from the traditional rigid-body robotics literature. To demonstrate the validity and usefulness of this parametrisation, a hierarchical model-based feedback controller is implemented. the controller is verified and evaluated in simulation on various dynamical tasks, where the nullspace motions, disturbance recovery, and trajectory tracking capabilities of the platform are examined and validated. the soft flying manipulator platform could open new application fields in aerial construction, goods delivery, human assistance, maintenance, and warehouse automation.
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