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This paper presents simplified design of a planar induction motor climbing an inclined steel plate. The motor set-up consists of two individually controlled linear motors firmly coupled via an aluminum frame with a drive system to provide 1-D translational and rotational motion. The motor set-up is also equipped with a position sensor to locate the mover in real time. To simplify the motor structure...
This paper proposes strategies for the driving and egress of a vehicle with a humanoid robot. To drive the vehicle, the RANSAC method was used to detect obstacles, and the Wagon model was used to control the steering and velocity of the vehicle with only a limited number of sensors which were installed on the humanoid robot. Additionally, a manual tele-operating method was used with the lane projection...
A stabilization and control technique developed for steering swarms of unmanned micro aerial vehicles is proposed in this paper. The presented approach based on a visual relative localization of swarm particles is designed for utilization of multi-robot teams in real-world dynamic environments. The core of the swarming behaviour is inspired by Reynold's BOID model proposed for 2D simulations of schooling...
This paper presents development of an autonomous flying robot (unmanned aerial vehicle) and its verification via flight control experiment. The autonomous flying robot has a global positioning system (GPS) sensor to control its altitude and also a wireless camera to gather visual information from the air. First, we construct a longitudinal model of the autonomous flying robot to design a stable controller...
Quad-rotor Micro Aerial Vehicles (MAVs) are used widely in research and increasingly in commercial applications as the cost of these platforms has dropped. The cost of entry, however, is still high in large part due to the time and effort involved in repairing vehicles after crashes while learning about the system design and dynamics. In this paper, we present an omni-directional hovercraft, which...
The article proposes a feedback control system for path following in presence of obstacles that is an extension of previous work and is made of two components: (i) a sensor-based, real-time model that generates and periodically updates the path on-line in order to avoid both known and unforeseen obstacles, and (ii) a feedback-control model that is capable of driving a unicycle vehicle along the collision...
We present a novel, simple and effective approach for tele-operation of aerial robotic vehicles with haptic feedback. Such feedback provides the remote pilot with an intuitive feel of the robot's state and perceived local environment that will ensure simple and safe operation in cluttered 3D environments common in inspection and surveillance tasks. Our approach is based on energetic considerations...
This paper describes the experimental evaluation of a novel Autonomous Surface Vehicle capable of navigating complex inland water reservoirs and measuring a range of water quality properties and greenhouse gas emissions. The 16 ft long solar powered catamaran is capable of collecting water column profiles whilst in motion. It is also directly integrated with a reservoir scale floating sensor network...
A mechanism capable of enhancing the safety of paths followed by mobile robots which significantly modify their mass distribution while operating in uneven terrains is presented. This is the case, for instance, of kinematically reconfigurable platforms or robots equipped with manipulator arms. For a given path, a trajectory optimiser that finds suitably ??safer?? paths in terms of tip-over prevention...
Recent data collections in video and signals collection such as Electro-optical/Infrared video, synthetic aperture radar (SAR), and Hyperspectral (HSI) data afford persistent surveillance. As the rate of the imagery (or other products such as 3D terrain modeling) becomes available, there is a greater need for data exploitation to support and augment user needs for situational awareness. The presentation...
Explosive removing robot is a kind of unmanned equipment to dispose dangerous explosive instead people. It is very important because there are many explosives threaten the security of the world. This paper introduces research work of a heavy explosive removing robot, 450Kg, lift weight is 50Kg. Main technique include: machinery, electronic, sensor, navigation, motor, computer control communication,...
Teams of autonomous cooperating vehicles are well-suited for meeting the challenges associated with mobile marine sensor networks. Swarms built using a physicomimetics approach exhibit predictable behavior - an important benefit for extended duration deployments of autonomous ocean platforms. By using a decentralized control framework, we minimize energy consumption via short-range communication and...
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