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Design of teleoperation system of duct cleaning robot

Design of teleoperation system of duct cleaning robot

引用

2nd international conference on Advanced Design and Manufacturing Engineering (ADME 2012)

作者： Peng, Jiuying Sun, Wei OuYang, Minghua Zhou, Zhiwei Hunan Univ Coll Elect & Informat Engn Changsha 410082 Hunan Peoples R China

ISBN: (纸本)9783037855034

With central air-conditioning ventilation pipe cleaning as the research object,a teleoperation system of duct cleaning robot is designed and realized. The framework and function structure of the system are given and a remote control software of duct cleaning robot is developed based on VC. With the help of this system, operators can observate and remote operate the robot in real time and dynamically by making use of 3-D virtual environment and remote video monitor system.

关键词： Air Duct robot Remote control

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Navigation and Measurement control in Complex Environment

Navigation and Measurement Control in Complex Environment

引用

2nd international conference on Instrumentation and Measurement, Computer, Communication and control (IMCCC)

作者： Ren, Xiaoping Wang, Jian Cai, Zixing Gu, Mingqin Natl Inst Metrol Div Mech & Acoust Beijing Peoples R China Cent S Univ Sch Informat Sci & Engn Changsha Hunan Peoples R China

ISBN: (纸本)9780769549354

The navigation system of mobile robot should have the capability of environment cognition, action decision, motion control, and state monitoring. This paper presents a design of mobile robot control architecture and a survey about the navigation control method. In vision based mapping domain, our research put emphasis on the hybrid of model and appearance based approach. An environmental model of mobile robots is built with an improved Voronoi Diagram method. This method embodies the network structure of the environment-free area with fewer nodes, so the complexity of path planning is reduced largely. Hybrid navigation strategy composed of deliberative planning and local optimization in unknown environment is studied. An improved D* algorithm for deliberative planning in complex situation is proposed for avoiding local minima trap through searching a path from leave point. The reverse D* algorithm can decrease the calculation largely compared with the traditional D* algorithm in unknown environment.

关键词： mobile navigation robot control complex environment measurement

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Intelligent modular service mobile robot controllable via Internet

Intelligent modular service mobile robot controllable via In...

引用

2012 IFAC international conference on international Stability and Systems Engineering, SWIIS 2012. Held in Conjunction with the 2nd international Systems Engineering and Systems Management conference, SESEM 2012

作者： Chivarov, Nayden Paunski, Yasen Ivanova, Vania Vladimirov, Vladimir Angelov, Georgi Radev, Daniel Shivarov, Nedko Service Robotics Group Institute of Systems Engineering and Robotics Bulgarian Academy of Sciences Acad. Bonchev str. Sofia 1113 Bulgaria

ISBN: (纸本)9783902823205

The article focuses on the research. Development and prototyping of the "Intelligent Modular Service Mobile robot controllable via Internet" using open-source meta-operating system/platform ROS. The robot can be controlled either locally via an immediate console or remotely (via Internet) using a remote terminal. The immediate control is implemented by means of a computer terminal. The remote connection can be made over any TCP/IP enabled network such as the Internet. Software architecture of the remotely controlled robot consists of two major parts - ROS part and remote interface. The Remote control consists of two parts - Server and Client. The Client accepts user input and transmits the corresponding commands remotely to the Server via TCP/IP connection over a network (i.e. the Internet). The Server listens for Client connections and accepts commands from the connected Client. Such kind of mobile service robots can be used for servicing of elderly and/or disabled people, in a semiautonomous of fully autonomous mode of control from a distance via Internet As they are a great number of such applications it increases the social stability of the society.

关键词： Linux

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Implement of robot Arm Body Feeling Interaction System Based on the Kinect Skeletal Information

Implement of Robot Arm Body Feeling Interaction System Based...

引用

2nd international conference on Advanced Design and Manufacturing Engineering (ADME 2012)

作者： Lin, Haibo Mei, Weilin Zhang, Yi Chongqing Univ Posts & Telecommun Natl Engn Res & Dev Ctr Informat Accessibil Res Ctr Intelligent Syst & Robot Chongqing 400065 Peoples R China

ISBN: (纸本)9783037855034

This paper presents a novel method to control a robot arm based on the human skeletal information. First, the depth data is obtained by using a Kinect device. Skeletal tracking technology is used to deal with the depth data to match the various parts of the body and the 3D coordinates of each joint of the body are established. Then, the 3D coordinates are proposed to calculate the rotation angle of the human waist, shoulder, elbow and wrist joints. These four joints of the body are one-to-one correspondence with the four joints of 4-DOF robot arm. Finally, a transformation is conducted to map the calculation results into control commands, and the control commands are sent to the controller of robot arm by serial ports to achieve body feeling interaction. The experimental results show that the method can effectively control the robot arm to rotate and grab objects.

关键词： Kinect sensor Human skeletal information robot arm

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The implementation of pipe climbing robot's real-time speech control based on the generalized regression neural network In Embedded System

The implementation of pipe climbing robot's real-time speech...

引用

2nd international conference on Advanced Design and Manufacturing Engineering (ADME 2012)

作者： Fan, Binghui Ji, Peng Zhou, Kai Shandong Univ Sci & Technol Shandong Prov Key Lab Robot & Intelligent Technol Res Ctr Robot Qingdao Peoples R China

ISBN: (纸本)9783037855034

This paper describes a speech pre-processing and feature extraction methods and described the principle of generalized regression neural network (GRNN). In order to use neural networks for speech recognition, this article uses the variable frame-shift average frame method to average the characteristic parameters of the collected voice frame, and the feasibility of the variable frame-shift average frame method in neural network input parameters normalization is verified by experiments. In this paper, according to this method, the speech recognition based on the generalized regression neural network (GRNN) successfully ported to an embedded system, and realized the pipe climbing robot's real-time speech control.

关键词： pipe climbing robot speech control GRNN embedded system

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The Research of robot Handheld Intelligent Terminal System Base on ARM9

The Research of Robot Handheld Intelligent Terminal System B...

引用

2nd international conference on Advanced Design and Manufacturing Engineering (ADME 2012)

作者： Xin, Xin Wang, Guo Dong Xiao, Ju Liang Wang, Gang Tianjin Univ Key Lab Equipment Design & Manufacture Technol Tianjin Peoples R China

ISBN: (纸本)9783037855034

Traditional developments of intelligent terminal system could control only one robot and most were based on WinCE platform, which have poor versatility and expansibility. The robot hand intelligent terminal system proposed by this paper was an embedded equipment based on AT91 series chip. It had good human-machine interface with Linux system and Qt4 as software support. It adopted touch-screen technology and (IC)-C-2 keyboard as input device. It had two kinds of programming method, manual teaching-programming and off-line programming. The test shows that its volume is small and its weight is light to easy to operate robot handily.

关键词： Intelligent Terminal System ARM robot Embedded

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Support for robot docking and energy foraging: A computer vision approach

Support for robot docking and energy foraging: A computer vi...

引用

2nd international conference on Pervasive Embedded Computing and Communication Systems, PECCS 2012

作者： Shuja Ahmed, M. Saatchi, Reza Caparrelli, Fabio Material and Engineering Research Institute Sheffield Hallam University Sheffield United Kingdom

ISBN: (纸本)9789898565006

Swarm robotics deals with the multi-robot coordination for achieving the common objective. The latest research in this field focuses on more complicated domain of problem where swarms of robots may require to physically dock together to achieve the goal. The physical docking may be required to move over a big obstacle or also to perform precise physical connection with certain objective e.g. battery charging. In this research, the information from vision sensor is considered to provide support for performing precise physical docking. The robotic system considered in this study requires the robots to autonomously recharge their batteries for guaranteeing long term operations and also to perform complicated physical docking for which precision is necessary. A very simple but effective solution based on LEDs, used in a specified pattern on docking station, is adopted. The approach presented in this research is found computationally less expensive so is suited to be used with swarm robotic system which uses small robots with limited memory and processing resources.

关键词： Swarm intelligence

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The Energy Consumption Analysis of Four-legged Walking robot by Using Different Motion Laws

The Energy Consumption Analysis of Four-legged Walking Robot...

引用

2nd international conference on Advanced Design and Manufacturing Engineering (ADME 2012)

作者： Zhang, Xiaohui Wang, Xinjie Wang, Liangwen Chen, Weihong Zhengzhou Univ Light Ind Dept Electromech Sci & Engn Zhengzhou 450002 Henan Peoples R China

ISBN: (纸本)9783037855034

In this paper, controlling the motion of mass center of robot by different motion laws is discussed to reduce motor's drive power of robot joint. Firstly, correlation theory is described;obtain that if the (AV) value of motion parameter of robot' mass center is smaller;the torque of drive motor which needs to drive robot is smaller under the same conditions. Then, in the process of robot ZQROT-I running the straight gait, two typical motion laws are used to control mass motion of robot;motion performance of the robot is analyzed with Adams. Analysis result indicates that control mass motion of robot by the use of motion laws with small (AV) value has certain effect in saving working energy of robot.

关键词： Four-legged robots trajectory planning energy consumption movement simulation

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The Calculation System Development of the Quadruped robot's Workspace on Fixed Pose

The Calculation System Development of the Quadruped Robot's ...

引用

2nd international conference on Advanced Design and Manufacturing Engineering (ADME 2012)

作者： Tang, Weigang Wang, Liangwen Wang, Chuanpeng Zhengzhou Univ Light Ind Dept Electromech Sci & Engn Zhengzhou 450002 Henan Peoples R China

ISBN: (纸本)9783037855034

Due to the function expansion of the robot with hand-foot-integration, the robot's frame which is a original common motion platform turns to a mechanical grab platform with floating. The workspace calculation of the robot's working arm is the prerequisite for the robot starting to grab the aim. In this paper, the calculation system of the robot's workspace on fixed pose is introduced. The calculation of the robot's total centroid position is described, the stability of the robot is analyzed and the relationship between the workspace of robot and the stability criterion is discussed. The calculation process of the workspace is given and a numerical example is illustrated. The System can be used for motion control of robot and provide the theory basis for realization of automatic grab.

关键词： Quadruped robot Integrated hand-foot Workspace Stability

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Application and simulation of Single Neuron PID in IBVS

Application and simulation of Single Neuron PID in IBVS

引用

2nd international conference on Advanced Design and Manufacturing Engineering (ADME 2012)

作者： Dong, Jie Zhang, Li Univ Sci & Technol Beijing Sch Automat & Elect Engn Beijing 100083 Peoples R China

ISBN: (纸本)9783037855034

Visual servo control is one of the central issues in the research field of intelligent robot. In order to obtain more effective information from the environment, visual sensor is used in robot control. This paper mainly studies the application of intelligent algorithm in visual controller. Through the simulation comparison between Single neuron PID and Fuzzy adaptive PID which are introduced to IBVS, we can find that the proposed method could get better effect in convergence and fast performance.

关键词： Single neuron PID Visual servo control Visual controller

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