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This paper presents a multi-robot distributed cooperative localization method based on the fusion of sound and dead reckoning. First, each robot computes its position and orientation by dead reckoning. In order to correct the accumulative error of the dead reckoning, we periodically fuse the dead-reckoning results with the sound based relative localization using the extended Kalman filter (EKF) algorithm...
In this paper, we present the design of a portable odor-tracing instrument and propose a new method for odor tracing using the instrument. The odor-tracing instrument comprises three gas sensors, a microprocessor, and a liquid crystal display. The gas sensors are placed in a regular triangle. When odor molecules reach the surface of a gas sensor, the output of the sensor changes. To obtain more features...
The rehabilitation of stroke patients has been paid much attention in the world, and it will significantly improve the efficiency by introducing the robot technology into the rehabilitation training. According to the mechanical structure of the robot, the functional requirements and safety requirements of the rehabilitation training are proposed in this paper. So this paper presents a new control...
Owing to the propagation attenuation, the range of sound-based localization is limited. A sound-relaying method is proposed to realize relative localization for a distributed multi-robot system in a larger area. Each robot is equipped with one buzzer and four microphones for sending and receiving sound signals, respectively. The robots are regarded as nodes of a multi-hop and connected network, i...
We consider odor-plume tracing using a multi-robot system in indoor natural airflow environments. The purpose of odor-plume tracing is to approach the odor source via following the found plume with mobile robot(s). Owing to the chaotic nature of the odor transport in the atmosphere, tracing the resultant patchy meandering plume down to its source is thus not a trivial task. A novel multi-robot based...
The odor source localization using a mobile robot in time-variant airflow-field environment is considered. A novel estimation-based plume tracing method is proposed in this paper. Based on the odor-patch path estimated by the flow information when odor clues are found, a searching route is planned for the mobile robot to trace the plume. To have fair and statistic comparisons with both the spiral-surge...
We consider odor-source localization using a mobile robot in a time-variant airflow-field environment. Novel plume tracing and odor-source declaration methods are presented. When odor plume clue is found, an odor-patch path is estimated by a dynamic-window approach, and the robot traces the plume along a route planned from the odor-patch path. In parallel, a particle filter is used to localize an...
At present, odor sensors and anemometers are simply used by most chemical plume tracing algorithms to measure the concentration and wind speed/direction, respectively. To make full use of the information of concentration and wind for chemical plume tracing, the concept of virtual odor-source-probability sensor (VOSPS) is put forward. The VOSPS adopts the data of odor sensor and anemometer as input...
This paper addresses the problem of estimating the odor path which is most likely taken by the odor patch detected by the concentration sensor on a mobile robot moving in an indoor dynamic airflow environment. The odor path estimation is useful for plume tracing and odor source declaration. A novel algorithm for odor path likelihood mapping in the dynamic airflow environment is proposed. The algorithm...
The haptic interface enables an operator to feel remote environment via Internet. However there is uncertain delay time via Internet, the feedback information can’t be gotten by the haptic interface in time. The speed of the sampling and calculation in the interface device is faster than the speed of the information feedback from the remote robot. So it is difficult for an operator to feel the force...
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