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In this paper, we propose a two-modes autonomous controller for a snake-like robot to adapt to the environments with different friction coefficients. According to the cyclic 3-stages experiential learning theory, the controller integrates an open-form searching method and a closed-form searching method, which correspond to the two modes of the controller respectively. We introduce a mechanism to remember...
One of the most challenging problems of field robots is self-localization, which involves incremental update of position while in motion. Though wheel based odometry is cheaper to implement its accuracy degrades when wheels slip. In this paper performance of low-cost visual odometry approach is experimented as a feasibility test for field robot localization. We have used a downward-facing camera and...
Operations like radioactive waste handling, bomb disposal, surveillance, search and rescue are today performed mostly by humans at great risk to their own safety and well-being. In order to minimize direct human intervention in such operations, the design of a remotely operated versatile Unmanned Ground Vehicle (UGV) mounted with a robotic manipulator is presented in this paper. The robustness, range...
The present paper introduces a novel standing-up control strategy using Initial Value Compensation (IVC) for a Personal Mobility Robot (PMR). Personal mobility robots, which are wheeled inverted pendulum type mobility-assist devices, have the advantages of a small turn radius, maintaining a level seating posture on a slope, and a small footprint as compared to conventional electric wheelchairs with...
In the focus of this paper is a revolutionary steering system for vehicles of all kinds. It was developed primarily for unmanned vehicles in service and logistics applications, but can also be used in manned vehicles in the scope of eMobility and disposes of the potential to improve maneuverability, efficiency and dynamic behavior of such vehicles. The patented steering principle is based on the concept...
Hydroelectric power dams are composed of intake and outtake structures made of concrete in which steel components are embedded. These components, for reasons briefly presented in this paper, tend to exhibit considerable wear and deformation with time. Rehabilitation of these embedded components, by rectification using machining techniques, can in some cases be the best approach. This work is traditionally...
This paper presents a novel approach for a modular robotic platform to support power plant inspection. In a first part the paper gives an overview over the challenges and benefits of robotic inspection on power generation equipment. The industry requirements are presented and discussed on a general level. The second part of the paper focus on the modular platform itself. The overall modular architecture...
The capability to overcome terrain irregularities or obstacles, named terrainability, is mostly dependant on the suspension mechanism of the rover and its control. For a given wheeled robot, the terrainability can be improved by using a sophisticated control, and is somewhat related to minimizing wheel slip. The proposed control method, named torque control, improves the rover terrainability by taking...
This paper discusses the design of a new snake-like robot without wheels, named ACM-R7. It has 18 DOFs, is 1.6 m in length and weighs 11.7 kg. It features a water-tight structure, a large motion range pitch joint of ±90 degree and a high output-power actuator arrangement, based on the coupled drive concept. Furthermore the control method “Loop Gait” is discussed. For this gait the ACM-R7 forms a loop...
Vessel maintenance entails periodic visual inspections of internal and external parts of the vessel hull in order to detect the typical defective situations affecting metallic structures, such as cracks, corrosion, etc. This paper presents the first steps towards a roboticized visual inspection system aiming at automating as much as possible the whole inspection process currently undertaken by human...
This paper deals with path planning using cubic Hermite splines in real-time control of wheeled robots. The first part describes the filtering and prediction of the robot position. The discrete form of the extended Kalman filter is introduced on the basis of the robot model. The second part shows a computation of trajectories based on Hermite splines. The details of recomputation of the trajectory...
In this paper, the Mobile Parallel Robot (MPR) with structural configurations of PPUU (Prismatic - Prismatic - Universal - Universal) is developed. The inverse kinematics is firstly derived and a specific control system is presented. The control system integrates the features of parallel robot and mobile robot. Five control modules are included in the control software. By using the omnidirectional...
The use of an Electrical narrow tilting car instead of a large gasoline car should dramatically decrease traffic congestion, pollution and parking problem. The aim of this paper is to give a unique presentation of the geometric modeling issue of a new narrow tilting car. The modeling is based on the modified Denavit Hartenberg geometric description, which is commonly used in Robotics. Also, we describe...
This paper deal with a new foldable pipeline inspection robot that can be used for inspection of pipelines with 40 mm - 70 mm diameter. This reconfigurable robot has three powered wheel chains and each wheel chain is operated by a micro DC motor. Moreover the new wheel chain mechanism is foldable by using a new torsion spring and its backbone. Using this foldable mechanism, a small-sized robot whose...
An autonomous inspection robot system for ground line is presented in this paper. First, it introduces the inspection robot system and the ground line constructions without obstacles. Then it brings out a navigation and control method based on TLdatabase and multi-sensor fusion. The database is built according to the known line construction parameters. The inspection robot can locate itself and recognize...
In this paper, we propose the concepts that apply quantum circuits to model Fuzzy Sets, thereby creating a new method to model behaviors for a humanoid robot. It is similar to the standard fuzzy sets from two points of view -1) of measured probabilities of state |1〉, and 2) that of the normalized measurement in a quantum ensemble computer. However, one can also look at the internal quantum states...
This paper presents the design of two (2) novel endoscopic capsules. Using current capsule endoscopy technologies approximately 70,000 images of the human gastric tract are obtained during the examination. Usually, these images are reviewed by a gastroenterologist in a form of a video at various speeds (5 - 40 frames/sec). A physician spends 55 to 180 minutes reading these results. This represents...
This paper investigates the cooperative work of distributed robot maintaining retention of swarm, especially in the case of going up slope. Our control law to keep the high retention of the robot swarm has been developed, and its effectiveness for an environment with obstacles has been confirmed by using ODE (Open Dynamics Engine). This paper considers an environment with the slope and investigates...
Compared with mechanical steering system, hydraulic steering system and electric power assisted system, Steer By Wire (SBW) system has the advantage of variable steering ratio, easy assembling and enhancement of active safety, etc.. Due to only electric link but no mechanical link between steering wheel and front wheel, the force between front wheel and steering wheel, which is of great importance...
A sliding mode control is developed to solve the tracking control problem for an inertia wheel pendulum. The desired trajectory is centered at the upright position where the open-loop system becomes a non-minimum-phase system. As a first step towards the solution of the tracking control problem is the reference trajectory generation where we develop a reference model, based on the two-relay controller,...
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