Mars-500 Program Space-Based Mobile Robot “Turist”

2015 ◽  
Vol 789-790 ◽  
pp. 742-746 ◽  
Author(s):  
Valeriy Ivchenko ◽  
Petr Krug ◽  
Ekaterina Matyukhina ◽  
Sergey Pavelyev
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Robotic Systems ◽  
Functional Structure ◽  
Design And Implementation

The problems of design and implementation of remotely reconfigurable intelligence for space-based robotic systems and, specifically, mobile robots are highlighted. The classification of reconfiguration technologies, the specifications of remote reconfiguration, the functional structure of remotely reconfigurable intelligence are described. The space-based mobile robot-explorer "Turist" is presented.

Person Searching Through an Omnidirectional Camera Using CNN in the Tsukuba Challenge

2018 ◽  
Vol 30 (4) ◽  
pp. 540-551 ◽  
Author(s):  
Shingo Nakamura ◽  
◽  
Tadahiro Hasegawa ◽  
Tsubasa Hiraoka ◽  
Yoshinori Ochiai ◽  
...  
Keyword(s):  
Neural Network ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Convolutional Neural Network ◽  
Autonomous Mobile Robots ◽  
Laser Sensor ◽  
Autonomous Mobile Robot ◽  
Omnidirectional Camera ◽  
Public Road

The Tsukuba Challenge is a competition, in which autonomous mobile robots run on a route set on a public road under a real environment. Their task includes not only simple running but also finding multiple specific persons at the same time. This study proposes a method that would realize person searching. While many person-searching algorithms use a laser sensor and a camera in combination, our method only uses an omnidirectional camera. The search target is detected using a convolutional neural network (CNN) that performs a classification of the search target. Training a CNN requires a great amount of data for which pseudo images created by composition are used. Our method is implemented in an autonomous mobile robot, and its performance has been verified in the Tsukuba Challenge 2017.

Fast, Accurate Sonar-Ring System

2004 ◽  
Vol 16 (1) ◽  
pp. 44-53
Author(s):  
Teruko Yata ◽  
◽  
Akihisa Ohya ◽  
Jun’ichi Iijima ◽  
Shin’ichi Yuta
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
System Design ◽  
Ring System ◽  
Experimental Results ◽  
Single Measurement ◽  
Robot System ◽  
Distance Information ◽  
Design And Implementation ◽  
Robot System Design

Mobile robots often require distance to objects surrounding them for navigation tasks. The sonar ring is widely used to measure distance because it is easy to use and provides distance information all around the robot. Although accurate in range, a sonar ring has difficulty determining bearings to surrounding objects. Conventional sonar rings are slow in covering a full 360 degrees due to sequential driving of transducers for avoiding interference. In this paper, we propose a new sonar-ring sensor system for a mobile robot that can accurately measure bearing angles to objects in a single measurement. The proposed system simultaneously transmits and receives ultrasound in all directions and measures time-of-flight (TOF) differences, achieving fast, accurate measurement of points reflected around a robot. System design and implementation of the proposed sonar ring are also described and the effectiveness of the proposed system shown by experimental results.

Design and Implementation of a 3D Range Scanner for Mobile Robots

2013 ◽  
Vol 572 ◽  
pp. 644-647
Author(s):  
Gökhan Aslan ◽  
Erhan Ilhan Konukseven ◽  
Buğra Koku
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Autonomous Navigation ◽  
Robot Navigation ◽  
Low Cost ◽  
Vertical Axis ◽  
Field Of View ◽  
Mobile Robot Navigation ◽  
Design And Implementation ◽  
Speed Accuracy

In an efficient autonomous navigation and exploration, the robots should sense the environment as exactly as possible in real-time and act correctly on the basis of the acquired 3D data. Laser scanners have been used for the last 30 years for mobile robot navigation. However, they often did not enough speed, accuracy and field of view. In this paper we present the design and implementation of a scanning platform, which can be used for both outdoor and indoor mobile robot navigation and mapping. A 3D scanning platform based on a 2D laser rangefinder was designed in compact way for fast and accurate mapping with maximum field of view. The range finder is rotated around the vertical axis to extract the 3D indoor information. However, the scanner is designed to be placed in any direction on a mobile robot. The designed mechanism provides 360º degree horizontal by 240º degree vertical field of view. The maximum resolution is 0.36º degrees in elevation and variable in azimuth (0.1 degrees if scanning platform is set to complete a 360º degree rotation in 3.6 seconds). The proposed low cost compact design is tested by scanning a physical environment with known dimensions to show that it can be used as a precise and reliable high quality 3D sensor for autonomous mobile robots.

The Application of Bioinspired Jumping Locomotion Principles to Mobile Robots: Modeling and Analysis

2011 ◽  
Author(s):  
Omar Gilani ◽  
Pinhas Ben-Tzvi
Keyword(s):  
Mathematical Model ◽  
Energy Storage ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Robotic Systems ◽  
Modeling And Analysis ◽  
Unstructured Environments ◽  
Model Based ◽  
High Magnitude ◽  
Jumping Robot

Nature provides various alternative locomotion strategies which could be applied to robotic systems. One such strategy is that of jumping, which enables centimeter to millimeter-scaled insects to traverse highly unstructured environments quickly and efficiently. These insects generate the required high magnitude power through specialized structures which store and rapidly release large amounts of energy. This paper presents an investigation into the morphology of natural jumpers and derives a generalized mathematical model based on them. The model describes mathematically the relationships present in a jumping system which uses a pause-and-leap jumping strategy. The use of springs as energy storage elements for such a jumping system is assessed. The discussion is then further extended to another bioinspired approach that can be applied to a jumping robot: that of gliding using foldable wings. The developed jumping and gliding mobility paradigm is analyzed and its feasibility for mobile robot applications is discussed.

scholarly journals Robotics Focused Capstone Senior Design Course

2017 ◽  
Vol 8 (1) ◽  
pp. 23-34 ◽  
Author(s):  
Fernando Rios-Gutierrez ◽  
Rocio Alba-Flores
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Social Impact ◽  
Educational Experiences ◽  
Engineering Application ◽  
Autonomous Mobile Robots ◽  
Lawn Mower ◽  
Design And Implementation ◽  
Senior Design ◽  
Southern University

This work describes the educational experiences gained teaching the Senior Design I & II courses, a senior level, two-semester sequence in the Electrical Engineering (EE) program at Georgia Southern University (GSU). In particular, the authors present their experiences in using robotics as the main area to develop the capstone senior design, with focus in interdisciplinary interactions and teamwork for the design and implementation of autonomous mobile robots. Other main purpose of the capstone design course sequence is for the students to experience working in an engineering application project researching and analyzing the sustainability, ethical and social impact issues related to their projects. The students work for two semesters as a team to design, test and build a mobile robot project for a particular application. Some of these projects have been fabricated to participate in different robotic competitions, including the IEEE sponsored hardware competition, the lawn mower competition, and the robot waiter competition. 

DEVELOPMENT OF COMPUTERIZED MONITORING AND CONTROL SYSTEM OF THE MOBILE ROBOT’S POSITIONING ON LARGE FERROMAGNETIC SURFACES BASED ON INTELLIGENT TECHNIQUES. AUTOMATION OF THE MONITORING AND CONTROL PROCESSES OF MOBILE ROBOT FOR PROCESSING OF LARGE INCLINED SURFACES

2019 ◽  
pp. 41-48
Author(s):  
Yan Guojun ◽  
Oleksiy Kozlov ◽  
Oleksandr Gerasin ◽  
Galyna Kondratenko
Keyword(s):  
Control System ◽  
Mobile Robot ◽  
Functional Structure ◽  
Monitoring And Control ◽  
Technological Parameters ◽  
Monitoring And Control System ◽  
Inclined Surfaces ◽  
Computerized Monitoring ◽  
And Control ◽  
Tracked Mobile Robot

The article renders the special features of the design of a tracked mobile robot (MR) for moving over inclined ferromagnetic surfaces while performing specified technological operations. There is conducted a synthesis of the functional structure and selective technological parameters (such as control coordinates) of the computerized monitoring and control system (CMCS) intended for use with this MR. Application of the CMCS with the proposed functional structure allows substantially increasing the accuracy of the MR monitoring and control, which in turn provides for a considerable enhancement in the quality and economic efficiency of the operations on processing of large ferromagnetic surfaces.

Ultrasonic sensor system for the uses in intelligent motion control system of a mobile robots group

2010 ◽  
Vol 7 ◽  
pp. 109-117
Author(s):  
O.V. Darintsev ◽  
A.B. Migranov ◽  
B.S. Yudintsev
Keyword(s):  
Control System ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Motion Control ◽  
High Speed ◽  
Ultrasonic Sensor ◽  
Sensor System ◽  
Motion Control System ◽  
Speed Sensor ◽  
Working Space

The article deals with the development of a high-speed sensor system for a mobile robot, used in conjunction with an intelligent method of planning trajectories in conditions of high dynamism of the working space.

Vision for mobile robots

1992 ◽  
Vol 337 (1281) ◽  
pp. 341-350 ◽  
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Structure From Motion ◽  
Optic Flow ◽  
Image Sequences ◽  
Additional Constraint ◽  
Feature Points ◽  
Scene Structure ◽  
Corner Points ◽  
Edge Points

Localized feature points, particularly corners, can be computed rapidly and reliably in images, and they are stable over image sequences. Corner points provide more constraint than edge points, and this additional constraint can be propagated effectively from corners along edges. Implemented algorithms are described to compute optic flow and to determine scene structure for a mobile robot using stereo or structure from motion. It is argued that a mobile robot may not need to compute depth explicitly in order to navigate effectively.

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