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This paper presents a shared-control-based design for teleoperation of a dual-arm omnidirectional mobile robot—a robot that can execute tasks commanded by a remotely user, or that can operate autonomously by adapting to its immediate environment, or that can operate in both modes simultaneously. To achieve this capability for the robot and for its effective remote control, a shared-control method...
Dealing with the uncertainties of Internet characteristics is an important issue that needs being taken into account in developing Internet-based real-time systems. In this paper, we present our approach in applying fuzzy logic to develop back-up mechanisms for an Internet-based mobile robot to deal with unwanted network problems such as long delays or network interruptions. A tele-guidance application...
This Paper describes the development and system of the public service robot called “ARO” that was developed for the purpose of commercialization by ED Corporation. First, it explains about definition and market of the public service robot and then about its development stages and basic system configuration. Second, it explains about the hardware connection diagram and each function of ARO. Third,...
Underwater vehicles are typically operated using a tether or a slow acoustic link. We present an underwater optical communication system that enables a high-throughput and low-latency link to an underwater robot. The optical link allows the robot to operate in cluttered environments without the need for a tether. We demonstrate the performance of the system in a number of experiments which characterize...
The remote monitoring system of the robot is designed. Video image transmission and remote control are realized via the combination of wireless LAN and CDMA mobile communication network. In this paper, the acquisition and processing of image by DSP, the transmission of data by CDMA modem and the remote wireless control of the robot are described in detail.
Emergency and exploration missions are accomplished by remote stationary personnel and on-site responders that can deploy robots for dealing with situations involving hazard or inaccessibility. Thus, human-robot interaction (HRI) plays a key role in these kinds of applications. Intra-scenario operator mobility is often considered to be advantageous for acquiring situational awareness (SA) in the context...
In this paper, a real time tracking system by vision is presented. Thanks to it, the interaction between the human and the robot is simplified for example, in the case of the remote control of mobile robot. The operator selects the target to the proposed vision system, pointing out its border. Then, with the visual feedback, he can simply follow the behavior of the algorithm : correct target border,...
Mobile devices, like cell phones or smart phones, can nowadays be used to monitor and control remote devices like technical systems. While monitoring systems do not have high requirements on the transmission time of the displayed data, navigating a mobile robot from remote requires more real time data transfers. Therefore not only the possibilities of using mobile devices where researched, but also...
Mobile robots are becoming an essential participant in perimeter security, reconnaissance missions and search & rescue operations. Most mobile robots available for the surveillance are not designed for outdoor use and have limited payload capability. In this paper, the Zoiros-kinito-Mati (smart-mobile-eye/ZKM-1) using off the shelf components with high load capability and off-road navigation is...
Image-based control, using a mobile terminal, is a widely used control method for many remote robot applications since it provides valuable visual information from around the remote robot to the operator. However, the computational power of the mobile terminal is normally limited, compared with that of the stationary computing machine, because it has a number of constraints such as size, power, and...
This paper presents a teleoperation system to control mobile robot remotely. To provide adequate information for the operator to be aware of the robot situation, the whole viewpoints scenes are generated in the first and the third person point of view by virtual tools. These scenes provide the maps and the spatial information to the operators. To complete a complex task, operators can conveniently...
This paper consider the remote control of an unicycle mobile robot subject to transport delay. The communication delay effects are considered by means of a discrete time approach that allows to solve the path tracking problem in terms of the delayed input. The causality problem involved in the proposed solution is carried out by considering an extension to the nonlinear case of the well known Smith...
This paper presents a remote control system of a 6 DOF underwater robot using two acoustic transducers, while radio and optical waves are not used because they are strongly attenuated in a complex environment as water. Underwater robots can be controlled by cables limited by distances, environment conditions, and not flexible. Therefore, it is necessary to develop a remote control system for underwater...
Localization and mapping are essential elements in the design of mobile robots used for search and rescue mission. Localization is a key-function of remote control and mapping in an unstructured environment. However, in general, odometry in tracked vehicles is ambiguous because of the track slippage. To solve this problem, we developed a three-dimensional gyro-based odometry that considers the compensation...
Over the past decade, the Internet has become more and more popular in human society which brings significant convenient to researchers and engineers in the joint development of highly complicated products such as robotic/mechatronic systems. Simultaneously, more and more opportunities are being given to students to attend robot competitions in universities. However, it is still very difficult for...
Most teleoperation tasks involve controlling as well as monitoring from a remote location. This requires the eyes of the operator to be engaged in the monitoring task and the hands in the controlling task for the whole duration of the operation. Since the eyes are involved in the monitoring task anyway, inputs from their gaze can be used to aid in the controlling task to free the hands of the operator...
A tracked mobile robot has high mobility and stability to get over rough terrain by changing its form according to environments. However, it is hard for an operator to control the mechanism skillfully by remote control. One of the solutions of the problem is an implementation of an autonomous control system. A detection of distributed contact points between the crawlers and an environment enable the...
MCP is the chosen acronym for Mini-Car Pro - a wireless mobile robotic platform designed for research and education in embedded system development and wireless sensor network. The hardware architecture consists of a 200 MIPS ARM9 32-bit SoC, ultrasonic sensors, an IEEE 802.15.4 based Telos mote (a wireless sensor network node) for wireless communications, and a differential motor driven base platform...
This document describes the proposal of an internal and external communication architecture implemented in order to develop cooperative tasks among robotic units. The key of this communication system are the client-server links designed with Player/Stage for periodical control tasks and with sockets for non periodical ones. Each mobile unit acts as a node, connected through an Ethernet-Converter device,...
A novel compound mobile robot named Jaguar is introduced, which is developed by our laboratory. Its mechanism and system component are presented, with the method of motion control as an emphasis. Modular design allows us to add and to change parts easily at the structural, hardware and software levels. To control different components of the robot, the embedded control system is used and the remote...
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