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Overhead transmission lines integral assessment problem is considered in the paper. Failures diagnostic and analysis procedure based on artificial intelligence techniques is presented. The tool set for integral diagnostic of overhead lines and infrastructure is established. The possibility of the present tools arrangement on the base of land and air based autonomous mobile robots is offered. The concept...
Using multiple robots to form artificial swarms and using methods of self-organization to carry out collective cooperation to fulfill complex tasks are hotspots in researches of robotic control. Artificial swarms with the advantages of distribution, flexibility, robustness, autonomy and so on, will be the main approach to accomplish the complex tasks, such as distributed wireless network, distributed...
This paper identifies the need for a standard method of benchmarking emerging robotic systems with a focus on military, multi-robot convoys. Benchmarking is commonly used throughout academia and industry as a method of evaluating and comparing products. In this paper we propose a generic form that these benchmarks may take in the future. Classification categories, such as, obstacle avoidance, area...
This paper focuses on the design and construction of an optimization charging system for Li–Po batteries by means of tracked solar panels. Thus, the implementation of a complete energy management system applied to a robotic exploration vehicle is put forward. The proposed system was tested on the VANTER robotic platform—an autonomous unmanned exploration vehicle specialized in recognition. The interest...
This paper describes the TALOS, which is an experimental system designed to test suitability of automatic vehicles to nearly autonomously (i.e. without constant human supervision) perform routine patrol duties for the Border Guard. The goal of the TALOS system is to test all the technical aspects of the idea of use of autonomous robots for routine patrols, and especially to answer the question is...
This paper shows the focused assessment with sonography for trauma (FAST) performance of a wearable tele-echography robot system we have developed that we call “FASTele”. FAST is a first-step way of assessing the injury severity of patients suffering from internal bleeding who may be some time away from hospital treatment. So far, we have only verified our system's effectiveness under constantly wired...
This paper focuses on the design and implementation of a mini-size search robot, which is novel and could be extremely valuable as a search platform to carry out such tasks as searching some narrow areas of city and chassis of vehicle for detection of hazardous or dangerous materials. The robot has a small and solid structure with tracks. A modular electronic system has been developed for the robot,...
Floor-based line-tracking technique is widely implemented for use in many autonomous mobile vehicle applications in the industries such as for transportation of goods within an enclosed warehouse or factories. It is also popular in competition robots. Many line-tracking systems utilize several kinds of discrete sensors such as the reflective infra-red LED, light dependent resistor (LDR), and multi-array...
Autonomous vehicles are being increasingly introduced in the mining industry. While these may offer high safety and high productivity, fully autonomous solutions are not always applicable or economically viable. Teleoperation is an attractive option, since it increases safety and comfort of the drivers. Unfortunately, the difficulty to operate the vehicle remotely often results in reduced productivity...
A novel artificial-potential approach is presented for planning the minimum-exposure paths of multiple vehicles in a dynamic environment containing multiple mobile sensors, and multiple fixed obstacles. This approach presents several advantages over existing techniques, such as the ability of computing multiple minimum-exposure paths online, while avoiding mutual collisions, as well as collisions...
As part of the NASA Exploration Technology Development Program, the Jet Propulsion Laboratory is developing a vehicle called ATHLETE: the All-Terrain Hex-Limbed Extra-Terrestrial Explorer. Each vehicle is based on six wheels at the ends of six multi-degree-of-freedom limbs. Because each limb has enough degrees of freedom for use as a general-purpose leg, the wheels can be locked and used as feet to...
This paper introduces the design and implement of a novel control systems for power substation equipment inspection robot. According to the real condition of the power substation equipment inspection, the overall structure of the robot control systems are described, and a new monocular robot's navigation method based on colorful image processing was proposed. By the use of image partition of the HSI...
This paper reports on the study of the Center of Gravity (COG) for the ALACRANE mobile robot, which consists on a hydraulic tracked vehicle with a customized heavy manipulator. The COG has been experimentally estimated by taking into account different arm positions. These estimations have been used to modify the mass distribution of the robot so that the COG can be appropriately controlled online...
As part of the NASA Exploration Technology Development Program, the Jet Propulsion Laboratory is developing a vehicle called ATHLETE: the all-terrain hex-limbed extra-terrestrial explorer. The vehicle concept is based on six wheels at the ends of six multi-degree-of-freedom limbs. Because each limb has enough degrees of freedom for use as a general-purpose leg, the wheels can be locked and used as...
In the paper, we show mobility and operability of flexible mono-tread mobile track (FMT) through experiments. For mobility, FMT can climb over a thin plate, recover from lying position on its side, and side wind. As a result, it is partly proven that FMT has enough ability for the complex environment. For operability, FMT is better than a differential type track vehicle in the case that vehicle traces...
In the past decade, search robots in rescue operations have been focused on and developed for the purpose of finding survivors trapped in the rubble of collapsed buildings. Most of them adopt serpentine mechanisms: they comprise of track-equipped segments that are connected by joints to obtain greater mobility in extremely complex environments. However, they might gather to catch debris between tracks...
This paper discusses the work accomplished for the development of a new mobile robotic platform for the Hydro-Quebecpsilas underground power distribution lines. After an overview of few past robotic systems elaborated for the distribution networks, this article details the systems of the mobile robotic platform which seems to be the first in the literature dedicated to the underground distribution...
Based on the located information and graph theory, a distributed sensor network model is introduced. The relationship between data transmission and fusion between nodes are described with Delaunay triangulation. And Voronoi diagrams have been used in the description of coverage region of nodes. With the model, disadvantages of existing located system based on a fixed infrastructure could be overcome.
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...
This research focuses on the development of a network of cooperative autonomous robotics for military applications (CARMA) that work together to search, track, carry, deploy and retrieve sensor and other small payloads for a variety of purposes. CARMA addresses how the distributed hierarchical structure employed by the military is ideally suited as an efficient and robust model for distributed cooperative...
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