This paper proposes a new method of estimating the position and heading angle of a mobile robot moving on a flat surface. The proposed localization method utilizes two passive beacons and a single rotating ultrasonic ...
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This paper proposes a new method of estimating the position and heading angle of a mobile robot moving on a flat surface. The proposed localization method utilizes two passive beacons and a single rotating ultrasonic sensor. The passive beacons consist of two cylinders with different diameters and reflect the ultrasonic pulses coming from the sonar sensor mounted on the mobile robot. The sonar sensor, again, mounted on a pan-tilt device then receives the reflected pulses while scanning over a wide area. The geometric parameter set of beacon is acquired from the sonar scan data obtained at a single mobile robot location using a new data processing algorithm. The presented algorithm is especially suitable for processing the sonar scan data obtained by ultrasonic sensor with wide beam spread. From this parameter set, the position and heading angle of the mobile robot is determined directly. The performance and validity of the proposed method are evaluated using two beacons and a single sonar sensor attached at the pan-tilt device mounted on a mobile robot, named LCAR, in our laboratory.
This paper presents the design and development of a real-time eye-in-hand stereo-vision system to aid robot guidance in a manufacturing environment. The stereo vision head comprises a novel camera arrangement with ser...
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This paper presents the design and development of a real-time eye-in-hand stereo-vision system to aid robot guidance in a manufacturing environment. The stereo vision head comprises a novel camera arrangement with servo-vergence, focus, and aperture that continuously provides high-quality images to a dedicated image processing system and parallel processing array. The stereo head has four degrees of freedom but it relies on the robot end-effector for all remaining movement. This provides the robot with exploratory sensing abilities allowing it to undertake a wider variety of less constrained tasks. Unlike other stereo vision research heads, the overriding factor in the Surrey head has been a truly integrated engineering approach in an attempt to solve an extremely complex problem. The head is low cost, low weight, employs state-of-the-art motor technology, is highly controllable and occupies a small-sized envelope. Its intended applications include high-accuracy metrology, 3-D path following, object recognition and tracking, parts manipulation and component inspection for the manufacturing industry.
This volume contains a selection of papers whose content have been presented at the International conferences CIPHI on Cultural Heritage and History of engineering at University of Las Palmas de Gran Canaria in the Ca...
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ISBN:
(数字)9789400712515
ISBN:
(纸本)9789400712508;9789400736405
This volume contains a selection of papers whose content have been presented at the International conferences CIPHI on Cultural Heritage and History of engineering at University of Las Palmas de Gran Canaria in the Canary Islands, Spain, in recent years.
The conference series is aimed at bringing together researchers, scholars and students from a broad range of disciplines referring to the History of engineering and Cultural Heritage, in a unique multidisciplinary forum to stimulate collaboration among historians, architects, restaurateurs, and engineers.
This book gathers the proceedings of the Joint International Conference of the XIV International Conference on Mechanisms and Mechanical Transmissions (MTM) and the XXVI International Conference on robotics (robotics)...
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ISBN:
(数字)9783031875373
ISBN:
(纸本)9783031875366;9783031875397
This book gathers the proceedings of the Joint International Conference of the XIV International Conference on Mechanisms and Mechanical Transmissions (MTM) and the XXVI International Conference on robotics (robotics), held in Iași, Romania, on November 14–16, 2024. It addresses the applications of mechanisms and transmissions in several modern technical fields such as mechatronics, biomechanics, machines, micromachines, robotics, and apparatus. In doing so, it combines theoretical findings and experimental testing. The book presents peer-reviewed papers written by researchers specialized in mechanism analysis and synthesis, dynamics of mechanisms and machines, mechanical transmissions, biomechanics, precision mechanics, mechatronics, micromechanisms and microactuators, computational and experimental methods, CAD in mechanism and machine design, mechanical design of robot architecture, parallel robots, mobile robots, micro and nano-robots, sensors and actuators in robotics, intelligent control systems, biomedical engineering, teleoperation, haptics, and virtual reality.
This book presents the main achievements of the EuRoC (European robotics Challenges) project, which ran from 1st January,2014 to 30th June 2018 and was funded by the European Union under the 7th Framework Progra...
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ISBN:
(数字)9783030345075
ISBN:
(纸本)9783030345068;9783030345099
This book presents the main achievements of the EuRoC (European robotics Challenges) project, which ran from 1st January,2014 to 30th June 2018 and was funded by the European Union under the 7th Framework Programme. It describes not only the scientific and technological achievements of the project, but also the potential of the comparative challenge approach in robotics for knowledge advancement and technology transfer.
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