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Tytuł:
Chaotic Mobile Robot Workspace Coverage Enhancement
Autorzy:
Fahmy, A. A.
Powiązania:
https://bibliotekanauki.pl/articles/384684.pdf
Data publikacji:
2012
Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:
chaos
mobile robot
chaotic motion
chaotic mobile robot
Chua's circuit
Opis:
The chaotic mobile robot implies a mobile robot with a controller that ensures chaotic motions. Chaotic motion is characterized by the topological transitivity and the sensitive dependence on initial conditions. Due to the topological transitivity, the chaotic mobile robot is guaranteed to scan the whole connected workspace. The Chua's circuit, which is low cost and easy to construct for trajectory generators, exhibits a rich variety of bifurcation and chaotic behaviors. This particular circuit is analyzed. It is shown how to generate a sequence of chaotic behaviors by varying the value of a linear resistor of the Chua's circuit. According to the simulation, with best adjusting parameters, and mapping the appropriate chaotic variables to robot's kinematic variables, the chaotic behavior is enhanced in the sense of wide area coverage and evenness index.
Źródło:
Journal of Automation Mobile Robotics and Intelligent Systems; 2012, 6, 1; 33-38
1897-8649
2080-2145
Pojawia się w:
Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Intelligent Control for a Perturbed Autonomous Wheeled Mobile Robot Using Type-2 Fuzzy Logic and Genetic Algorithms
Autorzy:
Martínez, R.
Castillo, O.
Aguilar, L. T.
Powiązania:
https://bibliotekanauki.pl/articles/384492.pdf
Data publikacji:
2008
Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:
mobile robot
path planning
fuzzy logic
genetic algorithms
autonomous mobile robot navigation
Opis:
We describe a tracking controller for the dynamic model of a unicycle mobile robot by integrating a kinematic and a torque controller based on Type-2 Fuzzy Logic Theory and Genetic Algorithms. Computer simulations are presented confirming the performance of the tracking controller and its application to different navigation problems.
Źródło:
Journal of Automation Mobile Robotics and Intelligent Systems; 2008, 2, 1; 12-22
1897-8649
2080-2145
Pojawia się w:
Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Układ lokalizacji bezwzględnej do zastosowań w robotyce mobilnej
Global localization system for mobile robot applications
Autorzy:
Sznura, M.
Przystałka, P.
Moczulski, W.
Powiązania:
https://bibliotekanauki.pl/articles/408947.pdf
Data publikacji:
2011
Wydawca:
Politechnika Śląska
Tematy:
robot mobilny
nawigacja
mobile robot
navigation
Opis:
W artykule przedstawiono projekt i implementację prototypu układu do lokalizacji bezwzględnej robota mobilnego. Wykonany prototyp układu jest urządzeniem o niewielkich gabarytach i małej masie, niskim zapotrzebowaniu na energię oraz jest rozwiązaniem tanim w realizacji. Ponadto układ posiada uniwersalny interfejs komunikacji umożliwiający jego współdziałanie z różnymi architekturami sprzętowymi systemów sterowania wysokiego poziomu robotów mobilnych. Wstępne badania weryfikacyjne urządzenia dobrze rokują co do praktycznego wykorzystania tego rozwiązania do nawigacji robotów mobilnych.
The paper deals with the design and implementation of a global localization system for mobile robot applications. A developed prototype is a device that is small and light-weight, low-cost and energy-efficient. Moreover, the device posses an universal communication interface that can be used in collaboration with various high-level control systems of mobile robots. The results of some preliminary tests of the prototype show that it can be applied for navigation of mobile robots.
Źródło:
Wybrane Problemy Inżynierskie; 2011, 2; 357-362
2083-1021
Pojawia się w:
Wybrane Problemy Inżynierskie
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
A fault-tolerant control system for a hexapod mobile robot
Autorzy:
Pana, C.
Stoian, V.
Powiązania:
https://bibliotekanauki.pl/articles/386213.pdf
Data publikacji:
2008
Wydawca:
Politechnika Białostocka. Oficyna Wydawnicza Politechniki Białostockiej
Tematy:
robot mobilny
robotyka
mobile robot
robotics
Opis:
This paper presents a fault-tolerant control system for a hexapod mobile robot. First, a description of the dynamic model of the hexapod mobile robot by a system of differential equations is made and after that, a representation of the system in state variable space is obtained. A fault detection and identification algorithm is proposed. The modality used here is an analytical redundant process, which supposes that the processing of the information is made at a superior level for the identification of the changes due to the faults. By this method, the actualized model obtained by the on-line identification of the system, is permanent compared with nominal model (without faults). The adaptive control system for uncertain nonlinear systems proposed here has two main blocks: adaptation mechanism block which implements the mathematical model of the adaptation error and control law accommodation block which changes the characteristics of the control law. Finally, the authors propose the hexapod mobile robot which is open to fault events, to be a variable structure system and analyze a specific control method.
Źródło:
Acta Mechanica et Automatica; 2008, 2, 3; 80-85
1898-4088
2300-5319
Pojawia się w:
Acta Mechanica et Automatica
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Navigation and mapping of closed spaces with a mobile robot and RFID grid
Autorzy:
Pawłowicz, Bartosz
Skoczylas, Mariusz
Trybus, Bartosz
Salach, Mateusz
Hubacz, Marcin
Mazur, Damian
Powiązania:
https://bibliotekanauki.pl/articles/27324009.pdf
Data publikacji:
2023
Wydawca:
Polska Akademia Nauk. Czasopisma i Monografie PAN
Tematy:
mobile robot
space mapping
RFID
Opis:
This article concerns the use of an integrated RFID system with a mobile robot for the navigation and mapping of closed spaces. The architecture of a prototype mobile robot equipped with a set of RFID readers that performs the mapping functions is described. Laboratory tests of the robot have been carried out using a test stand equipped with a grid of appropriately programmed RFID transponders. A simulation model of the effectiveness of transponder reading by the robot has been prepared. The conclusions from measurements and tests are discussed, and methods for improving the solution are proposed.
Źródło:
Archives of Control Sciences; 2023, 33, 4; 737--759
1230-2384
Pojawia się w:
Archives of Control Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
A mobile system for measurements of partial discharges controlled by electroencephalographic waves
Autorzy:
Błachowicz, A.
Paszkiel, Sz.
Powiązania:
https://bibliotekanauki.pl/articles/384381.pdf
Data publikacji:
2010
Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:
EEG
mobile robot
partial discharges
Opis:
The article presents the concepts of a mobile system for measurements of partial discharges controlled by brain waves. In order to describe that, a robot, which takes measurements of partial discharges, has been worked out. The discharges may occur in an isolator of electrical devices such as capacitors and transformers. What is more, a concept of a link between the robot and a human brain is described, in order to ensure a direct communication on the level of the human brain and the robot.
Źródło:
Journal of Automation Mobile Robotics and Intelligent Systems; 2010, 4, 3; 31-35
1897-8649
2080-2145
Pojawia się w:
Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Robot for monitoring hazardous environments as a mechatronic product
Autorzy:
Kasprzyczak, L.
Trenczek, S.
Cader, M.
Powiązania:
https://bibliotekanauki.pl/articles/384561.pdf
Data publikacji:
2012
Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:
mobile robot
hazardous environments
mine
Opis:
The mining mobile inspective robot is designed for monitoring explosive hazardous environments, where unknown gas mixtures consisting of explosive, toxic and suffocating gases can be present. This situation is often observed in mining hard coal excavations where inertia processes are carried out during or after a fire. Then the gas mixtures include, among others, significant concentrations of carbon monoxide, carbon dioxide and methane. In the paper the principle of operations and the robot assemblies which consist of mechanical, electronic, pneumatic and software elements were described. Furthermore in the paper initial traction tests of the robot were discussed.
Źródło:
Journal of Automation Mobile Robotics and Intelligent Systems; 2012, 6, 4; 57-64
1897-8649
2080-2145
Pojawia się w:
Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
A simple and efficient implementation of EKF - based SLAM relying on laser scanner in complex indoor environment
Autorzy:
Genevois, T.
Zielińska, T.
Powiązania:
https://bibliotekanauki.pl/articles/950933.pdf
Data publikacji:
2014
Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:
mobile robot
SLAM
environment recognition
Opis:
Localization in an unknown environment is one of the major issues faced by autonomous vehicles. The solution to this problem is delivered by the Simultaneous Localization and Mapping techniques, commonly known as SLAM. SLAM is the category of algorithms allowing a robot to map the surroundings and to keep an estimate of its position. Nowadays several SLAM methods are widely used. Though, many issues arise when SLAM is applied in a complex and unstructured environment. This article details an implementation of SLAM using improved Extended Kalman Filter (EKF). The aim is to provide a simple but reliable SLAM technique. The work has been carried out on a robot Seekur Jr, the mapping has been realized with a laser scanner. The applied EKF model with its modifications is presented. The techniques used to observe the environment and to identify the landmarks are outlined. The robustness and consistency of introduced modifications were justified by experiments.
Źródło:
Journal of Automation Mobile Robotics and Intelligent Systems; 2014, 8, 2; 58-67
1897-8649
2080-2145
Pojawia się w:
Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Human - machine interface for presentation robot
Autorzy:
Krejsa, J.
Ondrousek, V.
Powiązania:
https://bibliotekanauki.pl/articles/384419.pdf
Data publikacji:
2012
Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:
human-robot interface
mobile robot
presentation robot
Opis:
The purpose of mobile presentation robot is to interact with the users providing the required information. This paper presents the approach used in the highest software layer of autonomous mobile robot Advee used commercially for presentation purposes. The requirements for the layer are discussed together with available means of the robot. The particular building blocks and overall structure of the module are shown and key features are described in detail together with the behavior definition. Given module serves successfully when exploited to variable environment represented by people with computer literacy of great variation as proved during module verification tests.
Źródło:
Journal of Automation Mobile Robotics and Intelligent Systems; 2012, 6, 2; 17-21
1897-8649
2080-2145
Pojawia się w:
Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
The 2-wheeled mobile robots capable of cooperating in group of robots
Autorzy:
Uhl, T.
Buratowski, T.
Powiązania:
https://bibliotekanauki.pl/articles/384482.pdf
Data publikacji:
2007
Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:
mobile robot
wireless
Bluetooth
navigation
Opis:
One of the basic problems connected with wheeled mobile robots is the choice of the appropriate navigational method. This refers to individual robots and also, in particular, the group of mobile robots. “Navigation” can be defined as an issue connected with systems control, defining their position and orientation as well as choosing appropriate trajectory. The consisting elements of mobile robots navigation are: self-localization, path planning and creating a map of the explored area. Each of the above enumerated elements is independent; however, the realization of the target navigation task of the mobile robot or the group of mobile robots depends on the correct construction of particular elements.
Źródło:
Journal of Automation Mobile Robotics and Intelligent Systems; 2007, 1, 1; 23-31
1897-8649
2080-2145
Pojawia się w:
Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Simulation of semiautonomy mode for ibis mobile robot with analysis of sensor failure tolerance
Autorzy:
Bartoszek, J.
Trojnacki, M.
Bigaj, P.
Powiązania:
https://bibliotekanauki.pl/articles/384614.pdf
Data publikacji:
2011
Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:
sensor failure
mobile robot
semiautonomy
Opis:
This work is concerned on sensitivity analysis of semiautonomy algorithm of mobile combat robot to environmental sensors' damage. The construction of the robot, semiautonomy algorithm and used sensors have been described. This algorithm takes into account environmental sensors’ damage. Simulation research results of semiautonomy algorithm using Matlab/Simulink package was presented. This research was performed for normal environmental sensors’ operation and for selected sensors' damage. On that basis, sensitivity of semiautonomy algorithm to selected environmental sensors damage was tested.
Źródło:
Journal of Automation Mobile Robotics and Intelligent Systems; 2011, 5, 4; 3-10
1897-8649
2080-2145
Pojawia się w:
Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
A Behaviour-Based Control and Software Architecture for the Visually Guided Gobudem Outdoor Mobile Robot
Autorzy:
Doroftei, D.
Colon, E.
De Cubber, G.
Powiązania:
https://bibliotekanauki.pl/articles/384889.pdf
Data publikacji:
2008
Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:
control
mobile robot
software architecture
Opis:
The design of outdoor autonomous robots requires the careful consideration and integration of multiple aspects: sensors and sensor data fusion, design of a control and software architecture, design of a path planning algorithm and robot control. This paper describes partial aspects of this research work, which is aimed at developing a semiautonomous outdoor robot for risky interventions. This paper focuses on three main aspects of the design process: visual sensing using stereo vision and image motion analysis, design of a behaviourbased control architecture and implementation of modular software architecture.
Źródło:
Journal of Automation Mobile Robotics and Intelligent Systems; 2008, 2, 4; 19-24
1897-8649
2080-2145
Pojawia się w:
Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
DUODEPED dwunastonożny robot kroczący sterowany bezprzewodowo
DUODEPED - a 12-legged walking robot
Autorzy:
Gola, B.
Rysiński, J.
Powiązania:
https://bibliotekanauki.pl/articles/153551.pdf
Data publikacji:
2014
Wydawca:
Stowarzyszenie Inżynierów i Techników Mechaników Polskich
Tematy:
robot mobilny
Modbus
sterowanie
monitoring bezprzewodowy
mobile robot
remote control
monitoring system of a mobile robot
Opis:
W niniejszym referacie przedstawiono projekt oraz wykonanie dwunastonożnego robota mobilnego. Opracowano własny model komunikacji oraz sterowania. Manewrowanie robotem odbywa się poprzez smartfon, tablet lub komputer stacjonarny. Przygotowano wizualizację w oprogramowaniu inTouch, dzięki której możliwy jest monitoring parametrów związanych z zasilaniem, odległością od przeszkody czy podglądem z bezprzewodowej kamery umieszczonej z przodu robota.
In the paper the design and manufacturing of a twelve-leg (12-leg) mobile robot is described. The robot legs consist of triangles mutually connected by means of special flexible joints. Their original design layout allows for moving the leg end along the versatile trajectories. For example, during performance of a particular step, the lowest positioned leg end moves almost parallelly to the ground. It preserves a smooth movement as well as stability of consecutive steps. The advantages of the design solution including 12 legs are e.g.: high resistance to the loading, a relatively high speed of moving as well as the possibility of overcoming the versatile obstacles when obtaining simultaneously high stability. During motion, 4 legs have a permanent contact with the ground, therefore a thread of loss of stability does not exists in any moment. The central system of DUODEPED is based upon the effective micro-controller PIC24HJ256GP610 made by the “Microchip” firm. The program for the controller was written in the algorithmic language C#. The microcontroller communicates with the bluetooth BTM-222 module by means of the serial transmission module UART. It fully assures a radio transmission to the control device. The prepared software applications allow for intuitive control of the system/object. Control of robot motions is done via a Smartphone, tablet or desktop computer. The prepared visualization is written by means of ‘inTouch’ software. Therefore, it is possible to monitor the robot parameters connected with power supply, distance to an obstacle as well as transmitting view from the wireless camera fixed on the front part of the robot.
Źródło:
Pomiary Automatyka Kontrola; 2014, R. 60, nr 8, 8; 645-648
0032-4140
Pojawia się w:
Pomiary Automatyka Kontrola
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Cyber-security for Mobile Service Robots – Challenges for Cyber-physical System Safety
Autorzy:
Dudek, Wojciech
Szynkiewicz, Wojciech
Powiązania:
https://bibliotekanauki.pl/articles/308055.pdf
Data publikacji:
2019
Wydawca:
Instytut Łączności - Państwowy Instytut Badawczy
Tematy:
cyber-security
mobile robot safety
robot
robot threats
Opis:
A review of the known and an indication of the new threats for cyber-physical robotic systems, caused by cybernetic attacks, serves, in this paper, as a basis for the analysis of the known methods relied upon to detect and mitigate consequences of such attacks. A particular emphasis is placed on threats specific for cyber-physical systems, as they are a feature distinguishing these systems from their traditional Information and Communication Technologies (ICT) counterparts. Based on the review of literature and own analyses, unresolved issues regarding the cyber-security of robot systems are presented and discussed.
Źródło:
Journal of Telecommunications and Information Technology; 2019, 2; 29-36
1509-4553
1899-8852
Pojawia się w:
Journal of Telecommunications and Information Technology
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Methodology of control and supervision of web connected mobile robots with CUDA technology application
Autorzy:
Będkowski, J.
Masłowski, A.
Powiązania:
https://bibliotekanauki.pl/articles/384757.pdf
Data publikacji:
2011
Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:
mobile robot
cognitive control and supervision
Opis:
The main problem of the following paper is control and supervision of web connected mobile robots. Taking up this subject is justified by the need of developing new methods for control, supervision and integration of existing modules (inspection robots, autonomous robots, mobile base station). The methodology consists of: multi robotic system structure, cognitive model of human supervisor structure, system algorithms and cognitive model algorithms. The research problem comprises web connected mobile robots system development structure with exemplification based on inspection-intervention system. The modelling of human supervisor's behaviour is introduced. Furthermore, the structure of a cognitive model of human supervisor with the application of the new NVIDIA CUDA technology for parallel computation is proposed. The results of experiments performed in real, virtual and hybrid environments are discussed. The methodology is verified by exemplification based on a system composed of autonomous mobile robot ATRVJr and robot INSPECTOR.
Źródło:
Journal of Automation Mobile Robotics and Intelligent Systems; 2011, 5, 2; 3-11
1897-8649
2080-2145
Pojawia się w:
Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:
Biblioteka Nauki
Artykuł
Wyświetlanie 1-15 z 216

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