This paper describes the design, development and testing of Unmanned Autonomous ground vehicle that was developed to participate in the International Ground Vehicle Competition (IGVC). This paper will go through the o...
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In this paper, a low-cost navigation system with high integrity and reliability is proposed for enhancing highway traffic safety in adverse weather situations, such as a foggy or rainy weather. A high-integrity, 15-st...
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This paper presents the conceptual design and simulation of a rotational parallel robot. This robot is used to reproduce movement;the robot workspace, inverse kinematic study and a simulation of the system in a trajec...
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This paper proposes a methodology of mechatronics design applied to the concept of a service robot to clean storage tanks. In some cases the cleaning process is done manually, but in tall oil tanks, workers need scaff...
This paper proposes a methodology of mechatronics design applied to the concept of a service robot to clean storage tanks. In some cases the cleaning process is done manually, but in tall oil tanks, workers need scaffolding or cranes. The principal, most popular cleaning method used is sandblasting, but it can give the workers health problems like acute silicosis. This is why a robot capable of working with sandblasting is proposed, changing the traditional cleaning method and improving the life quality of workers, with reduced cleaning time and improved service quality.
The position control of designed 3 PRR flexure based mechanism is examined in this paper. The aims of the work are to eliminate the parasitic motions of the stage, misalignments of the actuators, errors of manufacturi...
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The position control of designed 3 PRR flexure based mechanism is examined in this paper. The aims of the work are to eliminate the parasitic motions of the stage, misalignments of the actuators, errors of manufacturing and hysteresis of the system by having a redundant mechanism with the implementation of a sliding mode control and a disturbance observe. x-y motion of the end-effector is measured by using a laser position sensor and the necessary references for the piezoelectric actuators are calculated using the pseudo inverse of the transformation matrix coming from the experimentally determined kinematics of the mechanism. The effect of the observer and closed loop control is presented by comparing the results with open loop control. The system is designed to be redundant to enhance the position control. In order to see the effects of the redundant system firstly the closed loop control for active 2 piezoelectric actuators experiments then for active 3 piezoelectric actuators experiments are presented. As a result, our redundant mechanism tracks the desired trajectory accurately and its workspace is bigger.
This paper proposes a novel approach for modeling the nonlinear dynamic behavior of Buckling-Restrained Braces (BRBs). The proposed approach is based on a combination of two architectures of Artificial Neural Networks...
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This paper presents a new neural network based reactive navigation algorithm for wheeled mobile robots (WMR) in unstructured indoor environments. The mobile robot travels to a pre-defined goal position safely and effi...
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This paper presents a new neural network based reactive navigation algorithm for wheeled mobile robots (WMR) in unstructured indoor environments. The mobile robot travels to a pre-defined goal position safely and efficiently without any prior map of the environment. This navigation algorithm is optimized by a user-defined objective function which minimizes the traveled distance to the goal position while avoiding obstacles. The network is trained through off-line learning followed by an on-line learning algorithm with guaranteed convergence. The performance of the proposed algorithm is verified over a variety of real unstructured indoor environments using an autonomous mobile robot platform.
This paper describes the design, development and testing of Unmanned Autonomous ground vehicle that was developed to participate in the International Ground Vehicle Competition (IGVC). This paper will go through the o...
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This paper describes the design, development and testing of Unmanned Autonomous ground vehicle that was developed to participate in the International Ground Vehicle Competition (IGVC). This paper will go through the overall system design and the details of each subsystem.
In this paper, a low-cost navigation system with high integrity and reliability is proposed for enhancing highway traffic safety in adverse weather situations, such as a foggy or rainy weather. A high-integrity, 15-st...
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In this paper, a low-cost navigation system with high integrity and reliability is proposed for enhancing highway traffic safety in adverse weather situations, such as a foggy or rainy weather. A high-integrity, 15-state, estimation filter is proposed to obtain a high accuracy state estimate. The filter utilizes a vehicle velocity constraint measurement to enhance the accuracy of the estimate. Two estimations filters, the Kalman filter (KF) and the information filter (IF), are designed and compared to obtain the estimate of the vehicle state. An instrumentation system that consists of a microcontroller, a GPS receiver, an IMU, encoders, and a Zigbee transceiver is constructed. The microcontroller provides a vehicle navigation solution at 50 Hz by fusing the measurements of the IMU, the GPS receiver and the digital compass using the proposed filter design. Experimental tests, using the proposed system, are conducted and the obtained results are presented. These results are processed with and without the velocity constraints. The estimation accuracy improvement with the addition of the velocity constraints is demonstrated. Also, results of a static test are used to assess the accuracy of the low-cost navigation systems against a commercial solution.
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