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Local Navigation Strategies for Multi-Robot Exploration: From Simulation to Experimentation with Mini-Robots

Procedia Engineering 2012年 41卷 1197-1203页

作者： Andry Tanoto Ulrich Rückert System and Circuit Technology Heinz Nixdorf Institute University of Paderborn Füurstenallee 11 Paderborn 33102 Cognitronics and Sensor Systems Group Cognitive Interaction Technology Centre of Excellence (CITEC) Bielefeld University 33615 Bielefeld Germany

This paper presents two local navigation strategies for multi-robot systems in performing exploration of unknown environments. The strategies are based on the frontier cell for mapping the environment and navigating in it. Additionally, two coordination strategies are used to solve possible conﬂicts among robots. Key criteria investigated are the efﬁciency and effectiveness represented by the completion time, travelled distance, the total steps, and the task distribution. The developed algorithms are tested in simulations as well as in experiments with Khepera III mini robots running on the Teleworkbench. To evaluate the robustness of the developed algorithms, tests are performed under different environmental conﬁgurations and varying numbers of robots. The results show the advantages of both proposed strategies in different situations such as environment types and starting positions.

关键词： Multi-robot system Environment exploration Mini Robot Teleworkbench Robot experiment

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Scalable and flexible vision-based multi-robot tracking system

Scalable and flexible vision-based multi-robot tracking syst...

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IEEE International Symposium on Intelligent Control (ISIC)

作者： Andry Tanoto Hanyi Li Ulrich Rückert Joaquin Sitte System and Circuit Technology Heinz Nixdorf Institute University of Paderborn Paderborn Germany The Cognitronics and Sensor Systems Group Cognitive Interaction Technology Centre of Excellence (CITEC) Bielefeld University Bielefeld Germany The Faculty of Science and Technology Queensland University of Technology Brisbane QLD Australia

Precise position is necessary for a robot to reliably localize itself and navigate in the environment. Robot position can be calculated internally or acquired from an external system. This paper presents a software architecture of a vision-based robot tracking system that can provide precise position information as well as identification of many robots. The software architecture has been designed to take into consideration the need for a flexible and scalable system that can interoperate with many similar systems and support different types of image sources, image processing, and outputs. With the architecture, future enhancements or replacements can be implemented as plug-ins, which can be easily integrated into the system. This paper also demonstrates the proposed architecture in different application scenarios.

关键词： Streaming media Cameras Servers Robot vision systems system recovery

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Stimulus generation for RF MEMS switches test application

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International Journal of Simulation and Process Modelling 2012年第1-2期7卷 107-114页

作者： Song, Mingxin Yin, Jinghua Cao, Zuobao Wu, Tong Zhao, Yu Jin, Zhao Zjajo, Amir Harbin University of Science and Technology P.O. Box 124 Nangang District 150080 Heilongjiang China NXP Semiconductors HTC-32 Eindhoven 5656AE Netherlands Circuit and System Group Delft University of Technology Mekelweg 4 2628 CD Delft Netherlands

The sinewave generators based on switched-capacitor (SC) technologies are implemented in transistor level. This analogue sinewave generator consists of two parts: an approximate sinewave generator and a filter. The structure of this generator is robust and easily-controlled, in which an approximate sinewave is firstly generated based on SC circuits and then filter the harmonics. The main advantages of the approach are that both the amplitude and the frequency of the signal can be controlled by a DC input voltage and the clock frequency respectively. The amplitude of the sinewave is 400 mV with SNR of 42.2 dB at a supply voltage of 1.2 V. The settling time of the system is less than 0.5 u and the power is less than 5 mW. Copyright © 2012 Inderscience Enterprises Ltd.

关键词： Built-in self test

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Multimodal proton and fluorescence image sensor for bio applications

Multimodal proton and fluorescence image sensor for bio appl...

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2011 IEEE/IFIP 19th International Conference on VLSI and system-on-Chip, VLSI-SoC 2011

作者： Nakazawa, Hirokazu Ishida, Makoto Sawada, Kazuaki Integrated Circuit and Sensor System Group Toyohashi University of Technology Toyohashi Japan

ISBN: (纸本)9781457701719

We developed a multimodal sensor for proton (pH, power of Hydrogen) and filter-less fluorescence imaging by using CMOS (complementary metal-oxide semiconductor) silicon integrated circuit technology. In the developed device, a proton sensor which uses CCD (charge-coupled device) image sensor technology and a filter-less fluorescence detection sensor are fused in the same pixel. Both pH and fluorescence images were first ever successfully obtained without optical filters or gratings and simultaneously in the same area in real time using the developed image sensor. © 2011 IEEE.

关键词： CMOS integrated circuits

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Teleworkbench: Validating robot programs from simulation to prototyping with minirobots

Teleworkbench: Validating robot programs from simulation to ...

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10th International Conference on Autonomous Agents and Multiagent systems 2011, AAMAS 2011

作者： Tanoto, A. Werner, F. Rückert, U. Li, H. System and Circuit Technology Heinz Nixdorf Institute University of Paderborn 33102 Paderborn Germany Cognitronics and Sensor Systems Group CITEC Bielefeld University 33615 Bielefeld Germany

ISBN: (纸本)9781618391018

This paper describes a Demo showing the role of the Tele-workbench in the validation process of a multi-agent system, e.g., a traffic management system. In the Demo, we show the capability of the Teleworkbench in seamlessly bridging the simulation and experimentation with real robots. During experiments, important information is logged for analysis purpose. Additionally, a graphical user interface enables geographically distributed users to perform some levels of interactivity, e.g., watch the video or command the robots. Copyright © 2011, International Foundation for Autonomous Agents and Multiagent systems (***). All rights reserved.

关键词： Multi agent systems

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A Simultaneous Multimodal Sensor for Proton and Light Sensing using a Hole and Electron Accumulation Technique

A Simultaneous Multimodal Sensor for Proton and Light Sensin...

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2011 IEEE Sensors Proceedings

作者： Hiroto Watanabe Hirokazu Nakazawa Fumihiro Dasai Makoto Ishida Kazuaki Sawada Integrated Circuit and Sensor System Group Toyohashi University of Technology Aichi Japan

ISBN: (纸本)9781424492909

A novel CMOS (complementary metal-oxide semiconductor)-based multimodal biosensor is devised. In the devised sensor, both electrons and holes are handled simultaneously as a signal electrical charge. We named this technique the 'Hole and Electron Accumulation Technique (HEAT)'. Using the HEAT sensor, two phenomena (e. g. ion concentration and light power) are mapped perfectly simultaneously by the same pixel. In this paper, the sensing mechanism and the basic characteristics of the HEAT sensor are described. As a result, we successfully demonstrated a multimodal sensor for the simultaneous sensing of pH (power of hydrogen: proton concentration) and light power.

关键词： Multimodal sensing Holes hydrogen ions heat Electrons Light

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Multimodal proton and fluorescence image sensor for bio applications

Multimodal proton and fluorescence image sensor for bio appl...

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IFIP International Conference on Very Large Scale Integration (VLSI-SoC)

作者： Hirokazu Nakazawa Makoto Ishida Kazuaki Sawada Integrated Circuit and Sensor System Group Toyohashi University of Technology Toyohashi Japan

关键词： Biomedical imaging Biomedical measurements Computational fluid dynamics Equations Argon Software

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Multimodal bio - Image sensor for real - Time proton and fluorescence imaging

Multimodal bio - Image sensor for real - Time proton and flu...

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International Solid-State Sensors, Actuators and Microsystems Conference

作者： Nakazawa, H. Ishida, M. Sawada, K. Integrated Circuit and Sensor System Group Toyohashi University of Technology Aichi 441-8580 Japan Research Fellow of the Japan Society for the Promotion of Science Tokyo 102-8472 Japan Electronics-Inspired Interdisciplinary Research Institute TUT Aichi 441-8580 Japan Core Research Evolutional Science and Technology JST Tokyo 102-8666 Japan

ISBN: (纸本)9781457701573

A multimodal bio-image sensor for proton (pH, power of Hydrogen) and filter-less fluorescence imaging is developed, and its prototype has been fabricated using CMOS silicon integrated circuit technology. Both pH and fluorescence images were successfully obtained without optical filters or gratings and simultaneously in the same area in real time using the developed image sensor for the first time. In the developed device, a pH sensor which uses CCD image sensor technology and a filter-less fluorescence detection sensor are fused in the same pixel. © 2011 IEEE.

关键词： CMOS integrated circuits

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A filter - Less multi - Wavelength fluorescence detector

A filter - Less multi - Wavelength fluorescence detector

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International Solid-State Sensors, Actuators and Microsystems Conference

作者： Nakazawa, H. Yamasaki, K. Takahashi, K. Ishida, M. Sawada, K. Integrated Circuit and Sensor System Group Toyohashi University of Technology Aichi 441-8580 Japan Research Fellow of the Japan Society for the Promotion of Science Tokyo 102-8472 Japan Core Research Evolutional Science and Technology JST Tokyo 102-8666 Japan Electronics-Inspired Interdisciplinary Research Institute TUT Aichi 441-8580 Japan

ISBN: (纸本)9781457701573

A filter-less multi-wavelength fluorescence detector is proposed and successfully demonstrated. The developed sensor detected the respective light intensity of several wavelength lights in a mixture simultaneously, without using optical filters or gratings. An array of the developed sensor achieved a multi-color fluorescence imaging system at standard television scan rates, was impossible for the conventional way. © 2011 IEEE.

关键词： CMOS integrated circuits

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A filter - less multi - wavelength fluorescence detector

A filter - less multi - wavelength fluorescence detector

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International Conference on Solid State Sensors and Actuators (TRANSDUCERS)

作者： H. Nakazawa K. Yamasaki K. Takahashi M. Ishida K. Sawada Japan Society for the Promotion of Science Tokyo Japan Integrated Circuit and Sensor System Group Toyohashi University of Technology Aichi Japan Core Research Evolutional Science and Technology Japan Science and Technology Agency Tokyo Japan

关键词： Biomedical measurements Fluorescence Substrates Biomedical imaging Detectors Microscopy

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