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This article describes the embedded control system for a tracked robot based on a single-board computer. This system was developed for educational purposes and for rapid prototyping of small mobile robots software. The issues of power supply stability and network connection for visual feedback through the integrated camera, the modularity of the design and the chassis robustness are considered. The...
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...
In this paper, we propose a software abstraction layer to simplify the design and synthesis of whole-body controllers without making any preliminary assumptions on the control law to be implemented. The main advantage of the proposed library is the decoupling of the control software from implementation details, which are related to the robotic platform. Furthermore, the resulting code is more clean...
In today's era, technology has advanced to this extent that it can be very useful in domestic purposes. Our house is the center of our domestic life and we can control our daily activities by using technical system. Automating our house activities eases and simplifies the way of living. A house with smart control system is called Smart Home. The control system is built by using information technology...
Teledyne SeaBotix is developing a robotic subsea winch to be used in deep deployments of an observation class (20kg) ROV to 4000 m depths. The subsea winch system can be incorporated in a self-contained launch and recovery system or via larger vehicles like work class ROVs or submarines. High reliability is an underlying design objective in subsea systems due to the very high cost of downtime or system...
Environment in some special areas of nuclear power plant is very bad, and is even worse and inaccessible after a nuclear accident. Therefore, a robot developed for special occasions of nuclear plant operation is urgently needed. Different from ordinary robots, nuclear industry robots face even worse environments, such as high radiation, high temperature, high pressure, narrow space, slopes, stairs,...
This paper focuses on the use of the Virtual Robotics Experimental Platform (V-REP) and the Robotics Operative System (ROS) working in parallel for design, test, and tuning of a vision based control system to command an Unmanned Aerial Vehicle (UAV). Here, is presented how to configure the V-REP and ROS to work in parallel, and the developed software in ROS for the pose estimation based on vision...
In this paper, for communication requirement of interconnecting units of transfer robot, design and implementation of robot communication are introduced, which mainly includes the design of the CAN open motion control master hardware communication circuit, the establishment of the node object dictionary and communication model. The test shows the efficiency and stability of the network.
Design of mobile robot control systems is a huge challenge, which require solving issues related to concurrent hardware access and providing high availability. Existing solutions in the domain are based on technologies using low level languages and shared memory concurrency model, which seems unsuitable for the task. In this paper a different approach to the problem of building a cyber-physical system...
The electronics packages for many robot control systems have very similar requirements, yet are often redesigned for each custom application. To reduce wasted time and effort, the project presented in this paper (the Wireless Autonomous Robot Platform with Inertial Navigation and Guidance, WARP-WING) is intended to create a complete and easily customizable general purpose control system for miniature...
The ever growing complexity of multi-robot systems and of robot themselves result in an increasing degree of uncertainty and unpredictability. In this work, the multi-agent approach to design such systems is adapted so behaviors of agents are described in terms of abstract state machines. By constraining agent behaviors to deterministic machines, verification of resulting systems is expected to be...
The Kuka light weight robot offers unique features to researchers. Besides its 7 Degrees of Freedom (DOF), also torque sensing in every joint and a variety of compliance modes make the robot a good choice for robotic research. Unfortunately the interface to control the robot externally has its restrictions. In this paper, we present an open source solution (OpenKC) that will allow the control of the...
This paper presents the development of Inverted Pendulum System at King Mongkut's Institute of Technology Ladkrabang (KMITL), including the designing, construction and control system design. The stabilizing of an unstable system in optimal control scheme via state-space approach is applied. The LQG controller design examples including the addition of the quadratic derivatives of state variables term...
This paper addresses a platform-based design method of a real-time embedded system for controlling three-dimensional (3-D) swimming of link-based robotic fish. It involves mechanical design, hardware implementation, software design, and central pattern generators (CPG) inspired 3-D swimming control. With the ARM-based microprocessor AT91RM9200, the established hardware is well suited for complex computation...
The field of electronic noses and gas sensing has been developing rapidly since the introduction of the silicon based sensors. There are numerous systems that can detect and indicate the level of a specific gas. We introduce here a system that is low power, small and cheap enough to be used in mobile robotic platforms while still being accurate and reliable enough for confident use. The design is...
A common set of equipment is widely used in an undergraduate engineering curriculum to provide hands-on experiences for fundamental theories in machine science that provide the underpinnings to automation and robotics. Theories taught in the classroom are coordinated with physical devices used in the courses to reinforce theoretical concepts and further stimulate studentspsila interest and learning...
An undergraduate laboratory for control system design at Texas A&M University consisting of eight experimental stations, each equipped with a computer and control system analysis and design software, interface hardware and software, and several physical plants that will be used for control experiments is described. Among these plants are: 1) a toy called Capsela, 2) a carousel, 3) a coupled tanks...
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