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Summary This paper presents a practical method for small-scale VTOL3 design. It helps for elements selection and dimensioning. We apply the latter to design a fully autonomous quadrotor with numerous innovations in design methodology, steering and propulsion achieving 100% thrust margin for 30 min autonomy. The robot is capable of rotational and translational motion estimation. Finally, we derive...
Summary The Autonomous Systems Lab of EPFL3 is developing, within the framework of an ESA program, an ultra-lightweight solar autonomous model airplane called Sky-Sailor with embedded navigation and control systems. The main goal of this project is to jointly undertake research on navigation, control of the plane and also work on the design of the structure, the energy generation system. The airplane...
Summary This paper details the control and guidance architecture for the T-Wing tail-sitter unmanned air vehicle, (UAV). The vehicle uses a mixture of classical and LQR controllers for its numerous low-level and guidance control loops. Different controllers are used for the vertical, horizontal and transition flight modes, glued together with supervisory mode-switching logic. This allows the vehicle...
Summary This paper presents a modular architecture for the implementation and evaluation of control strategies for a team of autonomous Unmanned Aerial Vehicles (UAVs). The architecture is designed to be a test bed for control algorithms ranging from low level vehicle control to higher level multi-vehicle mission control. The architecture is being implemented on a team of Brumby Mk III fixed wing...
Summary This paper describes automation of the digging cycle of a mining rope shovel which considers autonomous dipper (bucket) filling and determining methods to detect when to disengage the dipper from the bank. Novel techniques to overcome dipper stall and the online estimation of dipper “fullness” are described with in-field experimental results of laser DTM generation, machine automation and...
Summary The Emschergenossenschaft based in Germany is currently planning the Emscher sewer system, arguably the largest residential water management project in Europe in years to come. In 2002, the Emschergenossenschaft engaged the Fraunhofer Institute for Factory Operation and Automation (IFF) in Magdeburg, Germany as the general contractor to develop automatic inspection and cleaning systems to...
Summary The objective of this research is the replacement of hand weeding in organic farming by a device working autonomously at field level. The autonomous weeding robot was designed using a structured design approach, giving a good overview of the total design. A vehicle was developed with a diesel engine, hydraulic transmission, four-wheel drive and four-wheel steering. The available power and...
Summary In this paper, as a part of research work on the autonomous loading operation by wheel loader at surface mines or construction working places, a method of path generation for wheel loader will be described. V shape path connecting between the scooping position and the loading position consists of clothoid curves and straight lines. Each length of line segments are optimized in path generation...
Summary In many respects traditional automation in the forest-machine industry has reached an upper limit, since the driver already has to deal with an excess of information and take too many decisions at a very high pace. To further automation still, introduction of semi-autonomous and autonomous functions are expected and considered necessary. This paper describes an ongoing project along these...
Summary This paper presents a novel design and a motion planner for a semipassive mobile robot. The robot consists of an upper circular body and three identical semi-passive driving mechanisms. Each mechanism consists of a passive wheel that can freely roll, a rotation actuator along the normal axes and a linear actuator for motion along the radial direction of the upper body center. The robot is...
Summary In our current research, we are developing a holonomic mobile vehicle which is capable of running over the step. This system realizes omni-directional motion on flat floor using special wheels and passes over the step in forward or backward direction using the passive suspension mechanism. This paper proposes a new wheel control method of the vehicle according to its body configuration for...
Summary The design and control of high power water hydraulic robotic systems presents unique challenges. This paper describes some of those challenges and the techniques used to overcome them to develop a unique system for an autonomous robotic drilling machine for underground mining.
Summary In most search and rescue or reconnaissance missions involving field robots the requirements of the operator being mobile and alert to sudden changes in the near environment, are just as important as the ability to control the robot proficiently. This implies that the GUI platform should be light-weight and portable, and that the GUI itself is carefully designed for the task at hand. In this...
Summary Mobile robots used in the human-robot coexisting environment are required to perform continuous works without human maintenance. On the other hand, they need a rechargeable batteries that require charge, generally. Therefore, an autonomous battery-charging for mobile robots has a big advantage for performing continuous works. However, installation of exclusive use of battery-charging-stations...
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