Wyniki wyszukiwania - Biblioteka Nauki

1

Methodology of control and supervision of web connected mobile robots with CUDA technology application

100%

Będkowski J. , Masłowski A.

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2011

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tom Vol. 5, No. 2

3-11

EN

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.

2

Trajectory tracking control with obstacle avoidance capability for unicycle-like mobile robot

80%

Kowalczyk W. , Michałek M. , Kozłowski K.

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2012

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tom Vol. 60, nr 3

537-546

EN

In this paper the trajectory tracking control algorithm with obstacle avoidance capability is presented. As a robot gets into a neighborhood of the obstacle, the collision avoidance behavior is turned on. It is implemented using the artificial potential function (APF) that increases to infinity as the robot approaches a boundary of the obstacle. This feature guarantees collision avoidance. As avoidance behavior is active only in the neighborhood of the obstacle it does not affect the motion when there is no risk of the collision. Authors show that trajectory of the robot converges to desired one when a robot is out of the APF area. Due to a local characteristic of the APF, the implementation of the algorithm of the robot that uses only on-board sensors is possible. The stability proof is presented for both a near obstacle and obstacle-free areas. Effectiveness of the algorithm is illustrated with experiments on a real robot in an environment with static circle-shaped obstacles.

3

Simulation of semiautonomy mode for ibis mobile robot with analysis of sensor failure tolerance

80%

Bartoszek J. , Trojnacki M. , Bigaj P.

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2011

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tom Vol. 5, No. 4

3-10

EN

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.

4

Robot for monitoring hazardous environments as a mechatronic product

80%

Kasprzyczak L. , Trenczek S. , Cader M.

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tom Vol. 6, No. 4

57-64

EN

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.

5

Analysis of influence of drive system configurations of a four wheelled robot on its mobility

80%

Trojnacki M.

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tom Vol. 6, No. 4

65-70

6

Modelling and simulation studies on the mobile robot with self-leveling chassis

80%

Bałchanowski J.

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tom Vol. 54 nr 1

149--161

EN

The mobile robot presented in the article is a hybrid system combining efficient travel on wheels on a flat terrain with the capability of surmounting obstacles by walking. The research is focused on designing a control system maintaining the robot chassis at a constant position to the ground. The aims of this research are: creation of the computational model of the control system for the levelling system of designed mobile robots and realization of simulation studies on the robots travel in terrain with obstacles. The simulations aimed at determination of basic dynamic and kinematic properties.

7

System nawigacji odruchowej dydaktycznego robota mobilnego

80%

Wiśniowski M.

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2010

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tom R. 14, nr 2

314-322

PL

Artykuł dotyczy systemu nawigacji odruchowej dydaktycznego robota mobilnego MRM.edu. Robot ten powstał w Instytucie Automatyki i Robotyki na Wydziale Mechatroniki Politechniki Warszawskiej. System sterowania pozwala na autonomiczną nawigację odruchową robota. Sposób podejmowania decyzji wzorowany jest na reakcjach organizmów żywych, które pobudzone bodźcem dokonują określonego odruchu. Robot uzyskuje informację o swoim otoczeniu, która staje się dla niego bodźcem do ruchu w odpowiednim kierunku. Specjalnie stworzony algorytm pozwala na poruszanie się wśród przeszkód statycznych oraz dynamicznych, omijanie ich oraz osiągnięcie, początkowo zadanego przez użytkownika, punktu docelowego.

EN

This article refers to reactive-based navigation of MRM.edu didactic mobile robot, which was created at the Institute of Automatic Control and Robotics (Mechatronic Faculty, Warsaw University of Technology). Robot has an autonomous reactive-based navigation system. Decision making pattern imitates live organisms, which stimulated with impulse react in particular manner. Robot obtains environmental information and reacts with proper moves to avoid obstacle collision and to achieve destination coordinates. The navigation system needs only specified target, no environmental information such as: maps or technical description are required. This method is particularly effective in new and even not known surrounding. Example application of this system is autonomous search for explosives in dangerous areas, diagnostics in radioactive environment or exploration of hazardous buildings, caves or ruins. Reactive-based navigation is also useful in dynamic changing surrounding, like crowded corridors, when dislocating obstacles can not be described to robot a priori. System reacts to present state of environment and risk of any collision is less probable.

8

Continuous-curvature trajectory planning

80%

Roth J.

Journal of Automation Mobile Robotics and Intelligent Systems

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2021

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tom Vol. 15, No. 1

9--23

EN

Continuous-curvature paths play an important role in the area of driving robots: as vehicles usually cannot change the steering angle in zero-time, real trajectories must not have discontinuities in the curvature profile. Typical continuous-curvature paths are thus built of straight lines, arcs and clothoids. Due to the geometric nature of clothoids, some questions in the area of trajectory planning are difficult the answer – usually we need approximations here. In this paper we describe a full approach for continuous-curvature trajectory planning for mobile robots – it covers a maneuver-based planning with Viterbi optimization and geometric approximations required to construct the respective clothoid trajectories.

9

Real-time obstacle avoidance using harmonic potential functions

80%

Szulczyński P. , Pazderski D. , Kozłowski K.

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2011

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tom Vol. 5, No. 3

59-66

EN

The paper presents a solution of motion planning and control of mobile robot in a two-dimensional environment with elliptical static obstacle based on hydrodynamics description. Theoretical background refers to solution of Laplace equation using complex algebra. The method of designing complex potential with respect to stationary elliptical obstacle and stationary goal is formally shown. Next, the planning motion problem is extended assuming that the goal is moving. Then results of motion planning is used in order to design closed-loop control algorithms which is based on decoupling technique. Theoretical considerations are supported by numerical simulations illustrating example results of motion planning and control.

10

Miniaturowy robot mobilny VIRTUS

80%

Chojecki R.

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2001

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tom R. 5, nr 9

5-7

PL

W artykule przedstawiono zarys budowy miniaturowego robota mobilnego - VIRTUS, który powstał w Instytucie Automatyki i Robotyki Politechniki Warszawskiej. Omówiono przykłady wykorzystywania miniaturowych robotów. Ukazano możliwe zastosowania omawianego robota i jego wersje rozwojowe.

EN

VIRTUS is the mobile miniature robot constructed in the Institute of Automatic Control and Robotics, Warsaw University of Technology. Its design is sketched. The VIRTUS applications are presented. The miniature robot development is also outlined.

11

Trajectory planning for narrow environments that require changes of driving directions

80%

Roth J.

Journal of Automation Mobile Robotics and Intelligent Systems

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2021

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tom Vol. 15, No. 4

18--29

EN

In the area of mobile robotics, trajectory planning is the task to find a sequence of primitive trajectories that connect two configurations, whereas non-holonomic constraints, obstacles and driving costs have to be considered. In this paper, we present an approach that is able to handle situations that require changes of driving directions. In such situations, optimal trajectory sequences contain costly turning maneuvers – sometimes not even on the direct path between start and target. These situations are difficult for most optimization approaches as the robot partly has to drive paths with higher cost values that seem to be disadvantageous. We discuss the problem in depth and provide a solution that is based on maneuvers, partial backdriving and free-place discovery. We applied the approach on top of our Viterbi-based trajectory planner.

12

A new control algorithm for a nonholonomic mobile robot

80%

Kozłowski K. , Majchrzak J.

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tom Vol. 12, no. 1/2

37-69

EN

In this paper a trajectory tracking control problem for a nonholonomic mobile robot by making use of a kinematic oscillator has been solved. Firstly - time varying oscillator is axamined to control nonholomic mobile robot based only on its kinematics. Secondly - backstepping procedure is proposed to include robot dynamics and servo loop. It is shown that overall multilevel controller is asymptotically globally stable to a amall error different from zero. A wide range of simulation results are presented which illustrate behaviour of the controller with respect to tuning its parameters. Some preliminary experiments are reported too.

13

A fault-tolerant control system for a hexapod mobile robot

80%

Pana C. , Stoian V.

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tom Vol. 2, no. 3

80-85

EN

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.

14

Remote control of an educational mobile robot

80%

Bondarowicz R. , Tomczewski K.

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tom No 56

171-181

EN

The paper presents a computer program for remote control of an educational mobile robot. The program was developed as a student project within Masters thesis at Opole University of Technology. Among other things, it presents the application of a digital video camera in remote robot control. The program is used for educational purposes during practical classes at the technical university.

15

Control systems for mobile robot

80%

Krysiak B. , Kozłowski K.

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tom No. 5

39-58

EN

This article is a summary of master's degree work "Steering systems for mobile robot" [2]. The target of this work was designing and building integrated circuit of power ending, which is destined to steer engine of a new mobile robot that is designed by Chair of Control and Systems Engineering. Another part of this work is the analysis of Morin's and Samson's [3] steering law, which will be used to steer mobile robot in the future. The first part of this article presents the structure of mobile robot with individual subsystems. In the second part the analysis of Morin's and Samson's steering law is presented.

16

Optimizing the energy consumption of the autonomous mobile robot by reducing the amount of processed information

80%

Lech P.

Poznan University of Technology Academic Journals. Electrical Engineering

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2010

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tom No. 63

183-187

EN

The paper presents a study for the impact of the information quantity processed in the system of autonomous mobile robot on the energy consumption. Optimization consists in reducing the quantity of computation by limiting the quantity of input data (eg image resolution, number of processed frames per second) when determining an acceptable error control. The paper presents results of experimental studies that confirm the possibility of limiting the energy input due to reduced volumes of data.

17

A mobile system for measurements of partial discharges controlled by electroencephalographic waves

80%

Błachowicz A. , Paszkiel S.

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2010

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tom Vol. 4, No. 3

31-35

EN

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.

18

Simulation Strategy for Dual Wheel Mobile Robot Control

80%

Soomro Z. A.

Journal of Automation Mobile Robotics and Intelligent Systems

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2014

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tom Vol. 8, No. 4

20--23

EN

This paper deals with modeling and control strategies of the motion of wheeled mobile robots. The model of the vehicle has two driving wheels and the angular velocities of the two wheels are independently controlled. To illustrate how the kinematics model of the system can be used to design P controller and a PI controller is applied. The nonlinear and linearlised models are simulated in MATLAB® and simulink. The results are drawn here to evaluate the performance of the proposed controllers with concerned graphics.

19

Navigation strategy for mobile robot based on computer vision and YOLOv5 network in the unknown environment

80%

Bui T.-L. , Tran N.-T.

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2023

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tom Vol. 19, no 2

82--95

EN

The capacity to navigate effectively in complex environments is a crucial prerequisite for mobile robots. In this study, the YOLOv5 model is utilized to identify objects to aid the mobile robot in determining movement conditions. However, the limitation of deep learning models being trained on insufficient data, leading to inaccurate recognition in unforeseen scenarios, is addressed by introducing an innovative computer vision technology that detects lanes in real-time. Combining the deep learning model with computer vision technology, the robot can identify different types of objects, allowing it to estimate distance and adjust speed accordingly. Additionally, the paper investigates the recognition reliability in varying light intensities. When the light illumination increases from 300 lux to 1000 lux, the reliability of the recognition model on different objects also improves, from about 75% to 98%, respectively. The findings of this study offer promising directions for future breakthroughs in mobile robot navigation.

20

Roboty mobilne o specyficznych układach jezdnych i hybrydowe - synteza ruchu mobilnego robota hybrydowego

80%

Trojnacki M. T. , Różycki Ł.

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2011

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tom nr 3

20-25

PL

W pracy dokonano przeglądu istniejących rozwiązań robotów mobilnych o specyficznych układach jezdnych i rozwiązań hybrydowych, czyli robotów, które mogą poruszać się w bardziej zróżnicowanym środowisku niż tradycyjne roboty kołowe czy gąsienicowe. Omówiono strukturę kinematyczną małego robota mobilnego i opisano jego sekwencję wspinania się po schodach. Robot ten jest konstrukcją hybrydową, łączącą cechy lokomocji ciągłej i dyskretnej. Może on poruszać się zarówno na kołach, jak i wspinać po schodach.

EN

State of the art of mobile robots with specific drive systems and hybrid ones was depicted in the paper. These kinds of mobile robots can move in more diversity terrain than traditional wheeled or tracker ones. Kinematical structure of small mobile robot was presented in the paper. The sequence of climbing of this robot on the stairs was described. This robot is hybrid due to combination of features of continuous and discrete locomotion. It is able both to move using wheels and to climb stairs.