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This paper reports the results of research conducted on designing, modelling and controlling an electro-mechanical robot manipulator that serves as a sensing and motion system for hybrid testing. The conceptual design was inspired by the Stewart Platform mechanism for a two-degree-of-freedom (2DoF) moving platform. This design resulted in non-linear kinematics, coupled dynamics and an inertial moving...
In this study, a nonlinear model is developed to connect a biomimetic autonomous underwater vehicle (BAUV) with human cardiovascular system. The BAUV with sensors and a compliant tail is capable to perform Carangiform locomotion. To make the tail of the BAUV perform rhythmic motion, a nonlinear feedback torque is applied to the tail equation to construct a self-excited oscillator. Besides, a system...
Investigate mobile robot's history, obstacle avoidance is one of most important research area and also the foundation of building robot's successful behaviors. This paper proposes a Neural Network control system that is able to guide the mobile robots (AmigoBot and P3DX) traverse through a maze with arbitrary obstacles. The pattern is trained by using Matlab toolbox and Aria library for motion control...
This paper presents a local/global frames switching in outdoor navigation of a four-wheeled mobile robot in an obstructed environment. Two laser range finders are equipped on the mobile robot in order to perform sensor-based obstacle avoidance without any a priori knowledge about its environment. Also, a GPS is mounted on the top of the robot so that the absolute location and the heading angle of...
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...
This article aims to develop the design and implementation of a six wheeled multitasking mobile robot, built with electronic garbage and easy to obtain materials for the viability of educational kits to be used for teaching robotics in schools or colleges. This educational kit is based on the PIC16F628A microcontroller, actuators (dc motors for movement and accomplishing tasks) and sensors (responsible...
The research developed an architecture and experimental system for autonomously operating a web of Earth sensing devices. Example sensing devices include orbiting spacecraft, ground surface sensors, ocean surface sensors, ocean subsurface sensors, wheeled vehicles, fixed ground systems, weather balloons, and aircraft. A wide variety of sensors, sensor platforms, and operational characteristics (e...
Modern days, a robot can be designed based on human needs. In particular, the line tracking robot is a classic introductory robot design and needs minimal amount of material and cost. The aim of this project is to construct a robot that has capability to follow the white line placed on a horizontal smooth surface lighted by LED and the low cost light dependant resistor as the sensor. Rigorous analysis...
Tier-scalable robotic reconnaissance missions are called for in extreme space environments, including planetary atmospheres, surfaces (both solid and liquid), and subsurfaces (e.g., oceans), as well as in potentially hazardous or inaccessible operational areas on Earth. Such future missions will require increasing degrees of operational autonomy: (1) Automatic mapping of an operational area from different...
This paper describes an indoor cleaning robot coverage path to avoid obstacle based on behavior fuzzy controller under dynamic environment. The robot measures the distance between the robot and obstacle with ultrasonic sensors and infrared range sensors. The behavior architecture has three levels behaviors: emergency behavior, obstacle avoidance behavior, and task oriented behavior. The task oriented...
This paper is concerned with compression of multiple inertial sensor data. The compressed data consists of ADPCM compressed data and an adaptive refinement data. Each sensor data is first compressed using ADPCM. To reduce the quantization errors, refinement quantizers are then used, where the total number of bits for the refinement quantizers is fixed. Which inertial sensor data should be further...
The operation capabilities of robot in the amphibious environments (such as shallow water fields, surf zones, and beaches) are critical for military and civilian. In this paper, we introduce a novel amphibious robot with wheel-propeller-leg integrated driving devices, developed by Shenyang Institute of Automation, which can realize both crawling locomotion on the ground and swimming locomotion in...
Usually, robots have some sensors that measure the distance between the robots and any obstacles, for example, ultrasonic sensors, infrared distance sensors, and etc. On the other hand, although animals and insects do not have distance sensors, they can behave adaptively in unknown environments. The mechanism of adaptive behavior has been studied in ecological psychology, and it is assumed that animals...
This paper examines the design and implementation of a system to support firefighting exercises based on tools and ideas of pervasive computing. Through this development a range of technologies and conceptual tools were used, such as sensors, wireless communication, and the programming framework uMove; as well as context-awareness, situation management, and activity detection. In this development,...
The robot, that can detect the explosives and can communicate with its base station by using the 3G Technology to broadcast the live movement of robot, this 3G technology provides here the fast communication and helps in the portable design. In the other hand, the explosives which have to be detected through the a) Microwave Sensor, b) Nuclear based sensor, which will be done by the propagation of...
This paper gives an overview of the development of a novel biped walking machine. The robot is designed as an experimental system for studying biped locomotion based on torque controlled joints. As an underlying drive technology, the torque controlled joint units of the DLR-KUKA-Lightweight-Robot are employed. The relevant design choices for using this technology in a biped robot with integrated joint...
Developing autonomous mobile robot system has been a hot topic in AI area. With recent advances in technology, autonomous robots are attracting more and more attention worldwide, and there are a lot of ongoing research and development activities in both industry and academia. In complex ground environment, obstacles positions are uncertain. Path finding for robots in such environment is very hot issues...
A behavioral strategy designed for a humanoid robot for the purpose of obstacle avoidance based on four ultrasonic sensors for the learning behavior and performance is proposed and implemented with an autonomous humanoid robot. A mechanical structure with 4 degrees of freedom is designed so that a small-size humanoid robot named ARSR is able to accomplish three types of walking motion. One experiment...
In this paper, a simple path correction and obstacle avoidance method with a bipedal robot for the learning stratification and performance, using an ultrasonic sensor and electronic compass sensor, is proposed. This bipedal robot was comprised using the Lego NXT Intelligent Bricks. The proposed method is implemented on an autonomous humanoid robot (the ARSR). One ultrasonic sensor and one electronic...
This work deals with trajectory optimization for a network of robotic sensors sampling a spatio-temporal random field. We examine the problem of minimizing over the space of network trajectories the maximum predictive variance of the estimator. This is a high-dimensional, multi-modal, nonsmooth optimization problem, known to be NP-hard even for static fields and discrete design spaces. Under an asymptotic...
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