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Background The work of members of rescue teams could be associated with very high physical and thermal loads. If not timely interrupted, any extreme labour-thermal load may lead to a failure of the body and fatal collapse. This risk may be significantly reduced by devices that monitor the response of the body during the intervention and inform rescuers about the need to interrupt the exposure when...
The article deals with the analysis of selected hazardous states caused by the failure of some of the critical subsystems of a mobile robot and describes mechanisms ensuring well-defined behavior in case of such a failure. The failures include communication problems (low quality of wireless communication or complete interruption), software problems (freezing or crashing of a software subsystem) and...
The article focuses on modifications made on an existing gripper mounted on a teleoperated manipulator arm of the military mobile robotic system TAROS. The reason of these modifications was to allow handling of objects with a large range of weight and strength, which requires fully and precisely adjustable gripping force with feedback. The implemented solution uses a strain gauge applied to a selected...
This paper describes the concept of the portable system for monitoring thermal exposure of firemen and other rescues. The system measures, archives and analyses actual external and internal temperatures affecting the monitored person and gives him a warning in case of dangerously increased values. Described is the construction and electrical components of the device, some important tests done in various...
This article describes the construction of the 3D laser range finder (LRF) for the coal mine robot. The construction is based on our practical experiences with previous indoor 3D LRF design. The coal mine environment is very dirty. It is necessary to keep in mind this heavy working condition during the whole design process. The process of design started with definition of requirements. This specification...
This paper describes progress in design of main control system (MCS) of the mobile robot TELERESCUER for inspecting coal mine areas affected by catastrophic events. At the introduction is described the whole project background and the next chapter deal with design of control system and communication between individual subsystems. The following part of this paper describes decision about migration...
The article presents a way of visualizing point clouds created by 3D scanning in a coal mine. The first part focuses on the choice of individual algorithms for point cloud pre-processing (using the library PCL — Point Cloud Library), namely voxelization, outlier removing and smoothing. Then it is described the main rendering algorithm of the software — the chosen way of point rendering and some more...
The article presents a procedure of obtaining waveform of angular velocities for special segmented wheels required for smooth movement of a stair-climbing chassis on stairs. The waveform was determined for a specified velocity of the chassis using a dynamic contact analysis in the CAD system SolidWorks. The main part of the work was to verify whether real motors on a testing chassis are capable of...
The paper presents a practical implementation of a complex control system of a manipulator arm mounted on a mobile robot, controlled remotely by a human operator. Described is the mechanical construction and parameters of the manipulator, the overall structure of the control system and then in more detail also several software modules which were designed to aid the operator - including inverse kinematics...
Control systems of mobile robots controlled remotely by a human operator using only limited visual feedback from camera subsystem can aid the operator in various ways. This paper deals with automatic collision detection for manipulator arm mounted on a mobile robot — the goal of the system is to prevent any possible collisions between the arm and the robot or the arm itself. Implementation of the...
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