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The design of intelligent powered wheelchairs has traditionally focused heavily on providing effective and efficient navigation assistance. Significantly less attention has been given to the end-user's preference between different assistance paradigms. It is possible to include these subjective evaluations in the design process, for example by soliciting feedback in post-experiment questionnaires...
This paper presents an embedded system for a ballbot robotic platform, which is a balanced omnidirectional mobile robot that moves on a sphere. It provides a higher degree of maneuverability compared to the wheeled mobile robots. The robot balances it on a ball and gives to the system only one contact point with the ground. This allows to reduce the friction and the space needed by the system to turn...
The success of CS Freiburg at RoboCup 2000 can be attributed to a robust and accurate perception approach and an effective cooperation between players based on sophisticated soccer skills. In this paper, we present our multi-agent coordination approach for both, action and perception, and our rich set of basic skills which allow to respond to a large range of situations in an appropriate way. Furthermore,...
Intelligent wheelchairs can become an important solution to assist physically impaired individuals who find it difficult or impossible to drive regular powered wheelchairs. However, when designing the hardware architecture several projects compromise the user comfort and the wheelchair normal usability in order to solve robotic problems. In this paper we describe the main concepts regarding the design...
In this paper the idea of Policy-based Input Selector, which is a framework of a highly flexible modular software interface was presented. The Policy-based Input Selector allows run-time context-sensitive and self-acting reconfiguration of information inputs in cognitive systems. The proposed solution has great application capability in autonomous and intelligent systems with multiple data inputs,...
This work presents the virtual environment implementation for project simulation and conception of supervision and control systems for mobile robots, which are capable of operating and adapting in different environments and conditions. The purpose of this virtual system is to facilitate the development of embedded architecture systems, emphasizing the implementation of tools that allow the simulation...
This paper describes the experiences of the authors in incorporating a project-based learning approach in teaching an undergraduate level course for engineering technology students. The course is for senior students majoring in electrical or mechanical engineering technology. Topics discussed as part of the course include PID controllers, fuzzy logic control principles, robot mechanics, sensors for...
In this research, we present a development of a mobile robot platform integrated with off-the-shelf sensors and equipment for disaster response. Unlike the applications including research and education or military and civil defense forces, it is expected that the platform can be utilized for practical use with small initial budget and less effort for development. The platform offers an opportunity...
This article gives hardware design concept of a maze robot taking SCM as a core based on research on design of a maze robot' hardware and maze solving algorithm directing at the problem that there are less sensor-based maze algorithm and it is very difficult to find the shortest path. It proposes a deep first search (DFS) algorithm based on left - right hand wall follower rule and in detail analyzes...
Many laboratories and companies are developing a mobile robot with various sensors and actuators. They implement navigation techniques usually tailored to their own robot. In this paper, we introduce a novel robot navigation library, Universal Robot Navigation (uRON). uRON is designed to be portable and independent from robot hardware and operating systems. Users can apply uRON to their robots with...
This paper designs a low-cost service robot mobile platform for intelligent space. First of all, according to the basic requirements of the platform, its design is proposed. Then aiming at low cost and high performance, based on ARM controller and embedded real-time operating system, the control system is implemented and the prototype for this platform is developed. A large number of experiments and...
The goal of the "soft core robot?? project is to set the way for a robot with minimalistic component and pin count, based on custom computing. Additionally, the ??joint wheel motion controller?? specifically takes advantage of custom computing in order to privilege angular precision over linear velocity which is interesting for some applications including mobile robotics. The proposed ??soft...
This paper describes the hardware and software systems that make up an experimental architecture developed to facilitate teleoperation research for miniature rotorcraft. One objective in developing this platform is to place the minimum required sensors and electronics onboard a miniature helicopter with limited payload. The onboard hardware resources must be sufficient to simplify the teleoperation...
Application of a vision system and a remote control car to an elective fourth year design project in electrical engineering is discussed. The design project involves learning and application of various sensors, actuators, control theories. The end product of the design project is an intelligent vehicle that is able to follow an emulated highway automatically. A camera with embedded color tracking...
Microrobots were proposed more than 20 years ago but it has proven challenging to integrate a power system and actuators into some few mm3. There have been some attempts to create an autonomous mobile microrobot but any has been successful. Moreover, the proposed microrobots were simply mobile platforms incapable of sensing its environment and taking decisions. I-SWARM has been designed to be a real...
Teleoperated mobile robotic systems are remotely operated vehicles designed to perform tasks in coordination with human operators. However, teleoperation can be realistically enhanced by a level of automation removing challenges such as constant monitoring. The aim of this paper is to develop a behavior based control paradigm for the control of such a teleoperated semi-autonomous robot whose mission...
As software developers, we strive to create computational systems that are as robust and versatile as biological organisms have evolved to be in nature. We propose a software development methodology capable of producing self-adaptive software, using digital evolution to discover behaviors and optimize solutions. Employing this methodology we present an example behavioral concept from inception to...
This paper presents the virtual environment implementation for project simulation and conception of supervision and control systems for mobile robots, that are capable to operate and adapting in different environments and conditions. This virtual system has as purpose to facilitate the development of embedded architecture systems, emphasizing the implementation of tools that allow the simulation of...
Recently mobile robots act in various situations such as disaster areas, office buildings, factories and homes. When these new mobile robots are released, they should be confirmed to work correctly and safety from evaluation. In this paper, we propose large-scale simulation environment of mobile robots on StarBED which is a large-scale networked testbed. By using the simulation environment, we could...
We compare the configuration spaces corresponding to various arrangements of sensors on a robotic sensor network of three agents under the constraints of collision avoidance and maintenance of communication. We argue for the superiority of one particular sensor arrangement from the point of view of hardware complexity. This configuration space has the topology of a solid double torus. Various techniques...
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