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This paper develops a novel communications protocol for autonomous swarms of unmanned aerial vehicles (UAVs) searching a 2-dimensional grid. The search protocol, the UAV search mission protocol (USMP), combines inter-UAV communication with geographic routing to improve search efficiency in terms of total searches, distance traveled by UAVs, and the minimization of UAV direction changes. By determining...
Previous efforts in bilateral time-delay teleoperation have mainly yielded control algorithms that sacrifice performance in order to guarantee robust stability. This paper proposes a provably stable adaptive predictive controller for teleoperation systems with communication delay. The method uses the model and delay information and can adapt to uncertainties in user and environment dynamics in order...
The primary objective of this paper is to develop an adaptive formation control method for a team of mobile robotic agents, which implements formation control, obstacle avoidance, and operator induced error compensation for unconstrained motions. In this approach, a leader robot is selected and teleoperated by an operator and the follower robots are autonomously coordinated to make a formation to...
This paper presents a case study of the various interfaces and underlying architectures used to monitor and control a variety of different robots and test scenarios at the Jet Propulsion Laboratory (JPL). It includes a description of both the software developed and the hardware adapted for the purpose of providing real-time and near-real time interaction with remote assets. Robots range from the prototype...
Plasma-RX is a team of robots for search and rescue mission in an urban environment. The robot configuration contains differential drive tracks with front/rear flippers and serial-link arms equipped with cameras. They contain many sensors: thermopile array, CO2 sensor, microphone, tilt sensor, digital compass and laser range finder. For low level control of robots, a processor Arm7 and a special-purpose...
Rescue robots play an important role during rescue missions in disasters such as 9/11, which caused more than 2,000 deaths and thousands of injuries. However, tele-operating rescue robots are unable to perform their tasks constantly due to the limitation of current wireless communication technology. Therefore, rescue robots with the capability of performing their tasks autonomously during temporarily...
A wheelchair-mounted robotic arm (WMRA) system was designed and built to meet the needs of mobility impaired persons with limitations of upper extremities, and to exceed the capabilities of current devices of this type. The control of this 9-degree-of-freedom system expands upon conventional control methods and combines the 7-DoF robotic arm control with the 2-degree-of-freedom power wheelchair control...
In this paper, a new method based on multi-layered dynamic neural group network for analyzing event series is introduced. By the embedded multiple parallel structures, the new method can identify the character patterns contained in the event series. Then, a selective evaluation strategy is applied to integrate the different pattern clusters and predict the event in the next step. The aim is to generate...
Image-based control, using a mobile terminal, is a widely used control method for many remote robot applications since it provides valuable visual information from around the remote robot to the operator. However, the computational power of the mobile terminal is normally limited, compared with that of the stationary computing machine, because it has a number of constraints such as size, power, and...
Wave variables approach is mostly used due to its conservation to keeping passivity in time delayed teleoperation. On the other hand, excess conservation of passivity results in degraded system performance on environment perception or positional maneuverability. In physical environments waves are reflected, diffracted and refracted. Thus, wave variables approach introduces drifting problem to control...
We developed a rescue robot system, which allows efficient utilization of the potentials of a robot, by effectively switching between tele-operation mode and autonomous mode based on the task and the operation environment. Rescue robots are mobile sytems which can perform search for human lives, on behalf of rescue personnel, in dangerous environments like earthquack disaster zones or areas with chemical...
Many natural hazards like earthquake and seismic sea waves happen every year all over the world. In addition, many manmade disasters happen in many countries. To deal with these disasters, rescue robots are being developed in many countries. These robots support the rescue workers to search for the victims in the disaster environments. In this paper, we propose a flexible and generic interface system...
In this paper we apply the composite eta3 splines to collision-free curvature-derivative continuous shorter path planning of wheeled mobile robots, modelled as unicycle, within known static environments. The path planning problem is formulated as a bi-objective optimization problem of searching a sequence of N ordered intermediate configurations between start and goal configurations over the group...
The goal of this research is to realize robust teleoperation with multiple telerobots under changing communication topologies. In haptic teleoperation with multiple operators and multiple robots the forces as well as the positions should be transmitted between all the robots, which introduces difficulties in maintaining the stability and the efficiency of the system under communication failures or...
Theoretical analysis and implementation of autonomous staircase detection and stair climbing algorithms on a novel rescue mobile robot are presented in this paper. The main goals are to find the staircase during navigation and to implement a fast, safe and smooth autonomous stair climbing algorithm. Silver is used here as the experimental platform. This tracked mobile robot is a tele-operative rescue...
This paper presents a design on a small robotic fish with infrared remote receiver and IPMC actuator, and verifies that using IPMC as an actuator is feasible. In our experiment, we compare results of the robotic fish's speed in different actuating signal, such as square wave and sine wave. We also give the results of robotic fish's speed in different frequency and amplitude.
This paper presents the design concept for a bio-inspired exoskeleton intended for applications in tele-robotics and virtual reality. We based the development on an attentive analysis of the human arm anatomy with the intent to synthesize a system that will be able to interface with the human limb in a natural way. Our main goal is to develop a multi contact-point haptic interface that does not restrict...
This paper presents the ground work prepared for turning a bucket wheel reclaimer (BWR) into a robotic arm for operation automation. BWR has been widely used in dealing with bulk materials by removing them from the conveyor and stack them as well as to load stacked materials onto the in-feed conveyor, such as in mining industry. Generally speaking, current BWRs are manually operated, remotely operated,...
This paper discusses the phase lag of tele-operation system when operator begins to perceive the system's motion lag. The reduction of time lag is very important for high operation performance in tele-operation system. However the threshold of time lag for development of high operability is unknown. Therefore, I obtain the time lag when the operator perceived the motion lag in tele-operation. The...
Current challenges in biomanipulations for life-sciences research include extensive operator training, low success rates and low consistency of operations. These problems were tackled here through the use of teleoperation techniques and the development of a unified interface for simultaneous control of all devices used for standard biomanipulations. The developed system was created with high-end commercial...
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