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The interaction between Human and Machine has already crossed the Mouse and Keyboard technology to newer dimensions. Crossing the boundaries of virtual world the interaction between Human and Machine has nearly started to be more compatible with the physical world around us. With the availability of the latest platforms that have been developed in many domains it becomes easier to link the Human-being...
This paper deals with design of hybrid software and hardware sensor, which can be used for mobile robots visual odometry task. The paper is focused to sensing raw data only. This approach combines onboard hardware sensors - accelerometer, gyroscope, magnetometer and camera with software module, which is mainly based on computer vision. Output from vision system is relative change of position and rotation...
This paper presents the effect of pattern slot size on measurement results of a noncontact laser sensor, in which the noncontact laser sensor is used to measure a precision stopping error of a moving object at a specific position, and to send measurement errors to a main control station through ZigBee wireless communication. Measurement accuracies for various vertical slot sizes are tested experimentally...
The abrupt and frequent change of a path for autonomous vehicle might occur in the presence of position uncertainty due to sensor noises or errors in localization. While path planning of an autonomous vehicle utilize multiple sensors to generate the path, it is necessary to not only reduce such errors but also to plan a consistent path. Therefore, we propose a framework that can generate a stable...
Shuttle Robot Service means transport service for passengers or goods by autonomous robots(or unmanned vehicles) in a service area. This paper have suggested a safety system of shuttle robot service when the robot carries out a mission from the departure place to the destination place. Three sub systems would assure safe transportation, safe get into and get out of the robot.
This paper presents a methodology for reducing error in large rotation using an omnidirectional camera based on bundle adjustment technique. One of the most traditional problems of motion estimation method is accumulative error. The advantage of omnidirectional camera is that allows tracking landmarks in large rotation and long travel. The minimal error is applied on set of sequent images so that...
In this paper we present the design of a mobile system for ethanol leak localization in the environment with wireless transmission to a computer. The system is composed of two operating modules: a communication module that transmits and receives information about the localization in a full-duplex wireless manner through a pair of transceivers, and a motion module that has an ultrasonic displacement...
In this paper, the development of the roboticized technology has been described. Since the first robot has been designed, robots have been gone through three generations from the individual robots to intelligent robots from 60's. The general structure of an intelligent robot is introduced. Potential development directions of the robotic technology is described as well. Besides, the problems encountered...
In this study, we propose a localization method based on the fusion of the laser range sensor (LRS) measurements and the odometry information of a vehicle using moving horizon estimation (MHE). LRS measurement includes outliers and suffers from the intermittent observation; alleviation of their effect is required in order to localize a vehicle position with high accuracy. Proposed localization method...
The Glider Operations Center (GOC) at the Naval Oceanographic Office (NAVOCEANO) is responsible for operating a fleet of autonomous unmanned systems, including ocean gliders, in the collection of physical oceanography data. The data collected include ocean temperature, salinity, and optical properties, which are profiled at depth and used by ocean modelers to forecast future environmental ocean conditions...
Abstmct-This paper presents a kind of real time obstacle detection method for underwater vehicles equipped with 2D forward looking sonar. Due to frequent failure or multipath effects, it is very often uneasy to get satisfactory sonar range measurements, especially in the water tank environment. How to extract as accurate as possible environmental information from these sonar raw (noisy) measurements...
The PVC-ROV underwater robot testbed is a low-cost, three vehicle system designed to support research into multi-robot control techniques. Each vehicle is composed of a PVC frame with bilge-pump motors, a central microcontroller, and hobby-class sensing and power components. In addition, each vehicle is tethered to a surface buoy by a 15 meter tether and wirelessly exchanges data with an off-board,...
Vision-based robotics perception still have a great focus of attention on building systems because of its common availability and low cost. The 3D data produced by the disparity calculation methods in stereo cameras are inaccurate and presents substantial noise. We present here our method to deal with the noisy 3D point cloud produced by stereo camera to build a navigation map and mark obstacles with...
Domestic grazing animals follow simple, scalable rules to assign themselves trajectories to cover a pasture. We explain how to adapt these rules for an information gathering system based on a realistic robot motion model and Kalmanfilter based evidence grid that accounts for both bandwidth and sensor limitations. Our results show that this algorithm can meet or exceed the performance of state of the...
This paper introduces a distributed and decentralised method to solve the cooperative localisation problem utilising the factor graph framework. This method enables vehicles to create compact packets of their own sensor information between their involvement in intervehicle measurements. The packets are limited in size, with this size dependent on the size of the state space alone. The number of packets...
This paper describes the hardware and software components of a general-purpose humanoid robot system for autonomously driving several different types of utility vehicles. The robot recognizes which vehicle it is in, localizes itself with respect to the dashboard, and self-aligns in order to interface with the steering wheel and accelerator pedal. Low- and higher-level methods are presented for speed...
In this paper, we present a first attempt toward experimental validation of a multi-robot strategy for tracking manifolds and Lagrangian coherent structures (LCS) in flows. LCS exist in natural fluid flows at various scales, and they are time-varying extensions of stable and unstable manifolds of time invariant dynamical systems. In this work, we present the first steps toward experimentally validating...
This paper describes data fusion methodologies for obstacle detection in an automation system based on advanced Automatic Guided Vehicles (AGV), used for automated logistics in modern factories. We present the background of the problem, introducing generic aspects of the system architecture designed to cope with the obstacle detection in automated factory logistics; then, we focus on the system specification...
Recent developments in centralized ICT architectures have realized the abstraction of hardware and communications functionality into software within for of highly assisted and autonomous vehicles. This development requires a data-centric approach to the integration and fusion of sensory information within the vehicle. We address this requirement through utilizing a hierarchical framework of intelligent...
In this paper we present a methodology to control ground robots under malicious attack on sensors. Within the term attack we intend any malicious disturbance injection on sensors, actuators, and controller that would compromise the safety of a robot. In order to guarantee resilience against attacks, we use a control-level technique implemented within a recursive algorithm that takes advantage of redundancy...
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