The power management system for autonomous mobile robots is an important issue for keeping robots in their long-time functionality. Recharging is necessary before the power of the robot has exhausted. In this paper, w...
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Intelligent building can provide safety, convenience, efficiency and entertainment for life in the 21st century. The most importance role of the intelligent building is the security system. We develop a multi sensor-b...
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Intelligent building can provide safety, convenience, efficiency and entertainment for life in the 21st century. The most importance role of the intelligent building is the security system. We develop a multi sensor-based intelligent security robot (ISR) that is widely employed in intelligent buildings. The intelligent security robot can detect abnormal and dangerous situations and notify users. The robot has the shape of cylinder and its diameter, height, and weight are 50cm, 130cm and 100kg respectively. The function of the ISR contains six parts. There is the software development system;avoiding obstacle and motion planning system, image system, sensor system, remote supervise system and other systems. We develop a multi sensor-based sensor system in the ISR. We use multiple multisensorfusion algorithms to get an exact decision in the detection subsystem of the sensor system. There is an adaptive fusion method, a rule based method, and a statistical signal method. We demonstrate the remote supervisory system to control the ISR using a direct control mode and a behavior control mode. We think that the man-machine interface in a security robot system must have mobility and convenience. Therefore, we use a touch screen to display the system state, and design a general user interface (GUI) to service the user and visitors. The user can remotely control the appliance using a cell phone through a GSM modem, too. The appliance module can feedback reaction results to the user through a cell phone. Finally, we implement the fire detection system in the intelligent security robot (Chung-Cheng-I). If a fire occurs, the intelligent security robot can find out the fire source using the fire detection system. In intruder detection, we program the same scenario to detect the intruder using the intelligent security robot. The intelligent security robot transmits the message of the detection result to the user using a GSM modem for a fire event or intruder, and transmits the det
The unprecedented scale and number of natural and man-made disasters in the past decade has urged international emergency search and rescue communities to seek for novel technology to enhance operation efficiency. Tel...
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The unprecedented scale and number of natural and man-made disasters in the past decade has urged international emergency search and rescue communities to seek for novel technology to enhance operation efficiency. Tele-operated search and rescue robots that can navigate deep into rubble to search for victims and to transfer critical field data back to the control console has gained much interest among emergency response institutions. In response to this need, a low-cost autonomous mini robot equipped with thermal sensor, accelerometer, sonar, pin-hole camera, microphone, ultra-bright LED and wireless communication module is developed to study the control of a group of decentralized mini search and rescue robots. The robot can navigate autonomously between voids to look for living body heat and can send back audio and video information to allow the operator to determine if the found object is a living human. This paper introduces the design and control of a low-cost robotic search and rescue system based on an immuno control framework developed for controlling decentralizedsystems. Design and development of the physical prototype and the immunity-based control system are described in this paper.
*** decentralized feedback systems have long been of interest to the controls community[2],[3],[20].In recent years,research in decentralizedcontrol has been re-invigorated by interest in such applications as coopera...
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*** decentralized feedback systems have long been of interest to the controls community[2],[3],[20].In recent years,research in decentralizedcontrol has been re-invigorated by interest in such applications as cooperative control of autonomous vehicle teams,data fusion in sensor networks,air traffic management,and virus-spreading control,among many others,see the overviews[15]–[18]and also ***
In this paper, scalable collaborative human-robot systems for information gathering applications are approached as a decentralized Bayesian sensor network problem. Human-computer augmented nodes and autonomous mobile ...
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ISBN:
(纸本)9781424420575
In this paper, scalable collaborative human-robot systems for information gathering applications are approached as a decentralized Bayesian sensor network problem. Human-computer augmented nodes and autonomous mobile sensor platforms are collaborating on a peer-to-peer basis by sharing information via wireless communication network. For each node, a computer (onboard the platform or carried by the human) implements both a decentralized Bayesian data fusion algorithm and a decentralized Bayesian control negotiation algorithm. The individual node controllers iteratively negotiate anonymously with each other in the information space to find cooperative search plans based on both observed and predicted information that explicitly consider the platforms (humans and robots) motion models, their sensors detection functions, as well as the target arbitrary motion model. The results of a collaborative multi-target search experiment conducted with a team of four autonomous mobile sensor platforms and five humans carrying small portable computers with wireless communication are presented to demonstrate the efficiency of the approach.
Many modern technologies widely deploy semi-autonomousrobotic platforms, remotely controlled by a human operator. Such tasks usually require rapid fusion of multisensor imagery and auxiliary geospatial data. Operatio...
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ISBN:
(纸本)9780819471819
Many modern technologies widely deploy semi-autonomousrobotic platforms, remotely controlled by a human operator. Such tasks usually require rapid fusion of multisensor imagery and auxiliary geospatial data. Operational-control units in particular can be considered as displays of the decision-support systems, and the complexity of automated multi-domain geospatial data fusion leads to human-in-the loop technology which widely deploys visual analytics. While a number of research studies have investigated eye movements and attention on casual scenes, there has been a lack of investigations concerning the expert's eye movements and visual attention, specifically when an operator is engaged in real-time visual data fusion to control and maneuver a remote unmanned robotic vehicle which acquires visual data using CCTV cameras in visible, IR or other spectral zones, and transmits this data through telemetric channels to a human operator. In this paper we investigate the applicability of eye-tracking technology for the numerical assessment of efficiency of an operator in fusion of multi-sensor and multi-geometry visual data in real-time roboticcontrol tasks.
This paper investigates and contrasts the use of different Bayesian networks and a fuzzy integral for real-time sensorfusion using sonar and rangefinder laser values on an ActivMedia robot. Bayesian networks have bec...
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This paper investigates and contrasts the use of different Bayesian networks and a fuzzy integral for real-time sensorfusion using sonar and rangefinder laser values on an ActivMedia robot. Bayesian networks have become increasingly popular because of their ability to capitalize on the conditional probabilities present in an influence chain. The Choquet fuzzy integral, which has primarily been used for statistical analysis, has a great power of description. Comparison of the two methods indicates that noise within the sensor network can drastically affect the accuracy of the results, especially those obtained using the Bayesian network.
In order to obtain a good result in the laser welding process, the laser welding technology for manufacturing an automobile body is studied in this research. The robot, the seam tracking system, and CW Nd:YAG laser ar...
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In order to obtain a good result in the laser welding process, the laser welding technology for manufacturing an automobile body is studied in this research. The robot, the seam tracking system, and CW Nd:YAG laser are used for the laser welding robot system. Especially, the development of the laser-stripe sensor is highlighted. The laser-stripe sensor can measure the profile of the welding object and obtain the gap and seam line. Moreover, the working distance of the sensor can be varied. The control scheme of the whole system is also presented. The profile and gap measurement and the seam tracking experiments were carried out to validate the operation of the system.
In this paper, scalable collaborative human-robot systems for information gathering applications are approached as a decentralized Bayesian sensor network problem. Human-computer augmented nodes and autonomous mobile ...
详细信息
ISBN:
(纸本)9781424420575
In this paper, scalable collaborative human-robot systems for information gathering applications are approached as a decentralized Bayesian sensor network problem. Human-computer augmented nodes and autonomous mobile sensor platforms are collaborating on a peer-to-peer basis by sharing information via wireless communication network. For each node, a computer (onboard the platform or carried by the human) implements both a decentralized Bayesian data fusion algorithm and a decentralized Bayesian control negotiation algorithm. The individual node controllers iteratively negotiate anonymously with each other in the information space to find cooperative search plans based on both observed and predicted information that explicitly consider the platforms (humans and robots) motion models, their sensors detection functions, as well as the target arbitrary motion model. The results of a collaborative multi-target search experiment conducted with a team of four autonomous mobile sensor platforms and five humans carrying small portable computers with wireless communication are presented to demonstrate the efficiency of the approach.
Service robots are programmable automated or semiautomated mechanical devices designed to perform a specific service rather than a manufacturing function. Robots were initially used in the automation sector to handle ...
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Service robots are programmable automated or semiautomated mechanical devices designed to perform a specific service rather than a manufacturing function. Robots were initially used in the automation sector to handle repetitive and simple tasks reliably, with the objective of cost reduction per product. Along with the increased speed of embedded microcontrollers, the service robotic sector has started to grow. This article is focused on domestic robots for vacuuming and lawn mowing. Domestic robots for vacuuming and lawn mowing are mobile units that use autonomous mobile robotics technology
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