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Human experience with technology has shifted from technological contexts requiring occasional intervention by a fraction of people mostly in command of technologies, to technological contexts that require constant ongoing participation from most people to complete tasks. We examine the current state of ‘mixed-use’ new technologies integration with legacy systems, and whether the human assistance required...
The growing interest on service robotics with the use and exploitation of unmanned aerial vehicles has revealed important issues related to safety and fail prevention during navigation, and recent research has been devoted to understand and modeling the breaking of 1, 2 or even 3 motors. In this context, the present paper investigates the dynamics of an unmanned aerial vehicle of quadrotor type using...
In this paper we are presenting a method, which is developed as a part of our framework for designing complex robotic vehicle systems, to test a power train of a robotic concept car according to the real driving characteristic from telemetry data gathered from a subset of a pilot electric vehicle fleet in northern Germany in Hardware-in-the-Loop. Our aim is to investigate the driving performance of...
This manuscript describes a robot interaction for driving assist system of a micro electric vehicle (MEV). A driving assist system has been developed for ordinary car. However, almost driving assist system are one-way communication. We propose an interactive driving support system which a robot is installed in a MEV. As a first step, we propose a driving evaluation system applying a simplified fuzzy...
The aim of this paper is to present a practical method to land a Quadrotor MAV (Micro Arial Vehicle) on a landing pad or charger dock station. Nowadays Quadrotor MAVs are very popular but due to nonlinear dynamics and ground effects problems landing of a Quadrotor MAV is a control challenge specially in outdoor environments. For this purpose a high level fuzzy controler and a low level PID stablizer...
Intrusion detection systems designed for conventional computer systems and networks are not necessarily suitable for mobile cyber-physical systems, such as robots, drones and automobiles. They tend to be geared towards attacks of different nature and do not take into account mobility, energy consumption and other physical aspects that are vital to a mobile cyber-physical system. We have developed...
The objective of this paper is to instill in students motivation and interest for what they are studying a little bit further of the theory they learn in classroom. Sometimes students prefer more interactive classes and want to know why the material given in class is helpful in their career. Do we have a solution for this? Autonomous Robotic Vehicle (ARV) projects can be the solution to this problem...
This paper presents a new approach to improve the remote navigation of a teleoperated demolition machine. To improve navigation usability of the teleoperated system the following topics will be covered: obstacle avoidance, wall alignment, and machine optimal positioning for demolition operations. In order to enhance the ability of the operator to navigate in a cluttered environment, a Haptic-Assisted...
In this paper, we present approach for the detection and classification of multiple vehicles using a vehicle mounted laser scanner. The sensor, which is placed in front of the vehicle, is Scala 1403 and its characteristic is that it scans data twice -upper and lower direction- in one period. Consequently, it is difficult to detect and classify vehicles continuously. For solving this problem, another...
This paper analyses the existing literature (27 articles) on material handling equipment selection through equipments and attributes aspects. It is found that the maximum material handling equipment types used by developed systems for resolving the selection problem is 50 equipment types. The greatest number of attributes used in one article is 42 attributes. However, systems should be more robust...
In this paper, we introduce the Lehigh Ocean Research Craft Autonomous (LORCA) — a high performance USV with applications to surveillance and monitoring tasks. Compact (1.2 m), lightweight (5 kg) and robust (one-piece carbon fiber design), LORCA is capable of speeds of 80 kph (50 mph). It was also designed to be capable of operations in ocean waves, with self-righting ability in all sea states. We...
The robotization of vehicles has accelerated in recent years. Although the automobile field previously placed importance on the research and development of hardware, that of software has recently been more important. Standardization, generalization, and renewability are needed for efficient research and development of software. However, software platforms for research and education are not sufficiently...
Estimating the localization of an autonomous robot is a key problem in robotics. Monocular cameras have been successfully used to solve this problem, but they suffer with the absence of depth information. It limits measurements made with only monocular cameras to be recoverable only up to a scale. This condition is known as scale ambiguity. In this paper we propose an approach to solve the scale ambiguity...
Rotary-wing unmanned aerial vehicles (UAV) are being widely used in different applications due to its several features, such as mobility, lightweight, embedded processing and capability of flying in different height levels. Among the possible applications they are used in surveillance tasks, agriculture environments monitoring, power lines inspections and diseases detection in crops. The images captured...
The purpose of the paper is to discuss human centered design implications for shared decision making between humans and autonomous systems in complex environments. Design implications are generated based on empirical results from two research paradigms. In the first paradigm, an intelligent agent (Robo Leader) supervised multiple subordinate systems and was in turn supervised by the human operator...
Inspection of petroleum pipelines is very crucial for oil and gas companies. Using a ROV (Remotely Operated Vehicle) for pipeline inspection requires extensive expenses due to heavy equipment and a large number of crew members for operations. In order to save the inspection cost, Kasetsart University and PTTEP have cooperated to conduct a research and development of a specialized AUV (Autonomous Underwater...
Efficient obstacle detection is a key requirement for safe robot navigation. We consider the operation of autonomous vehicles in structured industrial environments. In such scenarios, an usual way to perform obstacle detection is to generate an estimate of the ground and detect elements that are on the path of the vehicle, using the ground as a spatial reference. For this task, 3D occupancy grids...
This paper presents a solution to the problem of decentralized control, fault detection and isolation for teams of cooperative autonomous mobile vehicles. The strategy is carried out in the discrete time domain. A local observer is used by each agent to estimate the overall state of the team. This estimate is, then, used both to compute its local control input and isolate faulty teammates, even in...
Without sufficient payload capacity to carry necessary electronic components, flying robots at the scale of insects cannot fly autonomously. Using a simple scaling heuristic to determine a few salient vehicle properties, we develop a vehicle design that possesses the requisite payload capacity for the full suite of required components for control autonomy. We construct the vehicle using state-of-the-art...
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