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Mobile robots are widely used in different fields of automation such as material handling, domestic services, and objects transportation. This work presents a manipulation system for multiple labware in life science laboratories using the H20 mobile robots. In service robot applications, the recognition and pose estimation of the desired objects are very essential for manipulation tasks. The H20 robot...
In this paper, a new system is presented to manage the elevator operations. A Wi-Fi socket is established to connect with the ADAM module for calling the elevator and requesting the destination floor. This technique does not provide any feedback on the elevator's door status or its current floor which in some situations can make the robot losing its way to the destination. Computer vision can be utilized...
This paper presents a novel approach for collision avoidance for indoor mobile robots based on human-robot interaction. The main contribution of this work is a new technique for collision avoidance by engaging the human and the robot in generating new collision-free paths. In mobile robotics, collision avoidance is critical for the success of the robots in implementing their tasks, especially when...
The accurate detection and position estimation of objects is vital to perform transportation tasks safely with mobile robots. This work presents an approach to identify and localize multiple labware which contains chemical and biological components to be manipulated and transported in life science laboratories using H20 mobile robots. The H20 robot has dual arms where each arm consists of 6 revolute...
Virtual submerged floating operational system (VSFOS), built in the laboratory environment, consisted of an ABB robot, the IRC5 controller, a six-degrees-of-freedom (6DOF) parallel robotic motion platform, an inertial navigation sensor and a real-time industrial computer, can make it possible to do all kinds of underwater operational simulation experiments very easily and expediently. In this paper,...
In service robot applications, the detection and pose calculation of the desired objects are very essential to manipulate them. This paper presents an intelligent system to realize manipulation tasks for different objects in life science laboratories. This system uses the H20 mobile robots equipped with Kinects as visual sensors to recognize the required target and identify its pose related to the...
In this paper, a new human feature based method is proposed for the intelligent HMRI (Human-Mobile Robot Interaction) in the indoor life science laboratories. The proposed method includes the contents as: (a) the Microsoft Kinect Sensors equipped on the mobile robots are adopted to detect the human and measure their face color images; (b) the different face features in the measured face images are...
This paper presents a collision avoidance system based on human-robot interaction for mobile robots, which are working alongside to humans. In the future work environments, mobile robots will work side by side to humans. This raises big challenges related to the safety of the human and the ability of the robot to identify the people, interact with them and avoid physical accidents to them. To realize...
In this paper, a virtual submerged floating operational system (VSFOS) for simulated underwater operational interventions is presented, in which a six-degrees-of-freedom (6DOF) parallel robotic motion platform is used to simulate the environmental disturbances of the ocean currents, an ABB manipulator mounted on the 6DOF platform represents the operational interventions in the sea, an inertial navigation...
A new mobile robot transportation system has been developed for modern life science laboratories. In the system, a new kind of sensors named StarGazer is adopted for the mobile robots' indoor localization. To improve the positioning robustness of the StarGazer sensors under laboratory ceiling interference situations (such as, the strong ceiling lighting), a new hybrid signal filtering method is proposed...
In this paper, we describe how the grasping and placing strategies for 6 DOF arms of a H20 mobile robot can be supported to achieve a high precision performance for a safe transportation. The ability to grasp and manipulate the desired objects is a major problem with mobile robots. This ability requires finding the pose of these objects with respect to the arm followed by using an accurate kinematic...
For a secure navigation of indoor mobile robots, several tasks have to be achieved to ensure the ability of these robots to implement manipulation tasks successfully. One of these challenges is the ability of robots to specify its location into the work environment under different conditions. Several localization methods have been implemented for different robotics' applications. The key success of...
Despite of many efforts by researches, real-time localization of mobile robot only using onboard sensor is still an open problem in mobile robotics. To contribute this research area, in this paper, a simple and effective method is proposed based on an adaptive estimator for estimating the position and linear velocity of a mobile robot in an unknown and unstructured environment using measurements of...
This paper presents a novel and effective method for estimating the position and linear velocity of a mobile robot in real-time in unknown environments by fusing visual information from an omnidirectional vision system with the measurements of an inertial sensor system. Based on a new projection model of the omnidirectional vision system, we propose a novel adaptive algorithm, similar to the Slotine-Li...
The paper presents a new method to realize mobile robot arm grasping in indoor laboratory environments. This method adopts a blind strategy, which does not need the robot arms be mounted any kind sensors and avoid calculating the complex kinematic equations of the arms. The method includes: (a) two robot on-board ultrasonic sensors in base are utilized to measure the distances between the robot base...
This paper presents a novel and effective method for localizing the position of a mobile robot in real-time in unknown environments by fusing an omnidirectional vision system and odometry/orientation sensor. Based on a new derivation where the omnidirectional projection can be linearly parameterized by the position of the robot and the unknown structures of natural features in the environment, we...
In modern life science laboratories, more and more complicated transportation tasks are needed among distributed automatic workbenches or laboratories. There are some special requirements for the kinds of transportation: high-accuracy; robust performance; economic cost and fast integration. In this paper a fast method is proposed to manage mobile robots for effective transportation in life science...
This paper presents a distributed algorithm for a mobile sensor network to track targets with unknown motion. We formulates the target tracking as a multi-objective optimization problem which integrates the tracking quality, the energy saving and the network connectivity. To cope with sensing noises, we use the determinant of the covariance matrix of target estimation as the tracking quality measure...
This paper is mainly to discriminate the obstacle models that the robot may meet by using BP neural network. The essential work autonomous mobile robot should complete includes path planning, localization and obstacle avoidance, and this paper has laid the foundation for these tasks. The result of computer simulation indicates that the design has achieved the expected task to judge the obstacle models.
This paper presents a fully distributed algorithm for target tracking using a mobile sensor network. It tries to maintain the target being visible to the mobile network all the time while consuming as little motion energy as possible. Meanwhile the network connectivity is maintained. At every time, only the nodes around the target are activated while other nodes keep idle. Certain functions are defined...
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