VSLAM and Navigation System of Unmanned Ground Vehicle Based on RGB-D Camera

In this thesis, ROS (Robot Operating System) is used as the software platform and a simple unmanned ground vehicle that is designed and constructed by myself is used as the hardware platform. The most critical issues in the navigation technology of unmanned ground vehicles in unknown environments -SLAM (Simultaneous Localization and Mapping) and autonomous navigation technology are studied. Through the analysis of the principle and structure of visual SLAM, a visual simultaneous localization and mapping algorithm is build. Moreover, accelerate the visual SLAM algorithm through hardware replacement and software algorithm optimization. RealSense D435 is used as the camera of the VSLAM sensor. The algorithm extracts the features from the data of depth camera and calculates the odometry information of the unmanned vehicle through the features matching of the adjacent image. Then update the vehicle’s location and map data using the odometry information. Under the condition that the visual SLAM algorithm works normally, this thesis also uses the 3D map generated to derive the real-time 2D projection map. So as to apply it to the navigation algorithm. Then this thesis realize autonomous navigation and avoids the obstacle function of unmanned vehicle by controlling the driving speed and direction of the vehicle through the navigation algorithm using the 2D projection map. Unmanned ground vehicle path planning is mainly two parts: local path planning and global path planning. Global path planning is mainly used to plan the optimal path to the destination. Local path planning is mainly used to control the speed and direction of the UGV. This thesis analyzes and compares Dijkstra’s algorithm and A* algorithm. Considering the compatible to ROS, Dijkstra’s algorithm is finally used as the global path-planning algorithm. DWA (Dynamic Window Approach) algorithm is used as Local path planning. Under the control of the Dijkstra’s algorithm and the DWA algorithm, unmanned ground vehicles can automatically plan the optimal path to the target point and avoid obstacles. This thesis also designed and constructed a simple unmanned ground vehicle as an experimental platform and design a simple control method basing on differential wheeled unmanned ground vehicle and finally realized the autonomous navigation of unmanned ground vehicles and the function of avoiding obstacles through visual SLAM algorithm and autonomous navigation algorithm. Finally, the main work and deficiencies of this thesis are summarized. And the prospects and difficulties of the research field of unmanned ground vehicles are presented

Aerospace medicine and biology: A continuing bibliography with indexes (supplement 341)

This bibliography lists 133 reports, articles and other documents introduced into the NASA Scientific and Technical Information System during September 1990. Subject coverage includes: aerospace medicine and psychology, life support systems and controlled environments, safety equipment, exobiology and extraterrestrial life, and flight crew behavior and performance

Contemporary Robotics

This book book is a collection of 18 chapters written by internationally recognized experts and well-known professionals of the field. Chapters contribute to diverse facets of contemporary robotics and autonomous systems. The volume is organized in four thematic parts according to the main subjects, regarding the recent advances in the contemporary robotics. The first thematic topics of the book are devoted to the theoretical issues. This includes development of algorithms for automatic trajectory generation using redudancy resolution scheme, intelligent algorithms for robotic grasping, modelling approach for reactive mode handling of flexible manufacturing and design of an advanced controller for robot manipulators. The second part of the book deals with different aspects of robot calibration and sensing. This includes a geometric and treshold calibration of a multiple robotic line-vision system, robot-based inline 2D/3D quality monitoring using picture-giving and laser triangulation, and a study on prospective polymer composite materials for flexible tactile sensors. The third part addresses issues of mobile robots and multi-agent systems, including SLAM of mobile robots based on fusion of odometry and visual data, configuration of a localization system by a team of mobile robots, development of generic real-time motion controller for differential mobile robots, control of fuel cells of mobile robots, modelling of omni-directional wheeled-based robots, building of hunter- hybrid tracking environment, as well as design of a cooperative control in distributed population-based multi-agent approach. The fourth part presents recent approaches and results in humanoid and bioinspirative robotics. It deals with design of adaptive control of anthropomorphic biped gait, building of dynamic-based simulation for humanoid robot walking, building controller for perceptual motor control dynamics of humans and biomimetic approach to control mechatronic structure using smart materials

High throughput phenotyping of root growth dynamics, lateral root formation, root architecture and root hair development enabled by PlaRoM

Plant organ phenotyping by non-invasive video imaging techniques provides a powerful tool to assess physiological traits and biomass production. We describe here a range of applications of a recently developed plant root monitoring platform (PlaRoM). PlaRoM consists of an imaging platform and a root extension profiling software application. This platform has been developed for multi parallel recordings of root growth phenotypes of up to 50 individual seedlings over several days, with high spatial and temporal resolution. PlaRoM can investigate root extension profiles of different genotypes in various growth conditions (e. g. light protocol, temperature, growth media). In particular, we present primary root growth kinetics that was collected over several days. Furthermore, addition of 0.01% sucrose to the growth medium provided sufficient carbohydrates to maintain reduced growth rates in extended nights. Further analysis of records obtained from the imaging platform revealed that lateral root development exhibits similar growth kinetics to the primary root, but that root hairs develop in a faster rate. The compatibility of PlaRoM with currently accessible software packages for studying root architecture will be discussed. We are aiming for a global application of our collected root images to analytical tools provided in remote locations

Skeletal muscle cells opto-stimulation by intramembrane molecular transducers

Optical stimulation and control of muscle cell contraction opens up a number of interesting applications in hybrid robotic and medicine. Here we show that recently designed molecular phototransducer can be used to stimulate C2C12 skeletal muscle cells, properly grown to exhibit collective behaviour. C2C12 is a skeletal muscle cell line that does not require animal sacrifice Furthermore, it is an ideal cell model for evaluating the phototransducer pacing ability due to its negligible spontaneous activity. We study the stimulation process and analyse the distribution of responses in multinuclear cells, in particular looking at the consistency between stimulus and contraction. Contractions are detected by using an imaging software for object recognition. We find a deterministic response to light stimuli, yet with a certain distribution of erratic behaviour that is quantified and correlated to light intensity or stimulation frequency. Finally, we compare our optical stimulation with electrical stimulation showing advantages of the optical approach, like the reduced cell stress.A study on the stimulation of cells with light, thanks to a photochromic molecule, called Ziapin2. It shows the difference between the light stimulation and the electrical stimulation in terms of cell viability and performance

The Future of the Operating Room: Surgical Preplanning and Navigation using High Accuracy Ultra-Wideband Positioning and Advanced Bone Measurement

This dissertation embodies the diversity and creativity of my research, of which much has been peer-reviewed, published in archival quality journals, and presented nationally and internationally. Portions of the work described herein have been published in the fields of image processing, forensic anthropology, physical anthropology, biomedical engineering, clinical orthopedics, and microwave engineering. The problem studied is primarily that of developing the tools and technologies for a next-generation surgical navigation system. The discussion focuses on the underlying technologies of a novel microwave positioning subsystem and a bone analysis subsystem. The methodologies behind each of these technologies are presented in the context of the overall system with the salient results helping to elucidate the difficult facets of the problem. The microwave positioning system is currently the highest accuracy wireless ultra-wideband positioning system that can be found in the literature. The challenges in producing a system with these capabilities are many, and the research and development in solving these problems should further the art of high accuracy pulse-based positioning

Advanced photonic and electronic systems WILGA 2016

Young Researchers Symposium WILGA on Photonics Applications and Web Engineering has been organized since 1998, two times a year. Subject area of the Wilga Symposium are advanced photonic and electronic systems in all aspects: theoretical, design and application, hardware and software, academic, scientific, research, development, commissioning and industrial, but also educational and development of research and technical staff. Each year, during the international Spring edition, the Wilga Symposium is attended by a few hundred young researchers, graduated M.Sc. students, Ph.D. students, young doctors, young research workers from the R&D institutions, universities, innovative firms, etc. Wilga, gathering through years the organization experience, has turned out to be a perfect relevant information exchange platform between young researchers from Poland with participation  of international guests, all active in the research areas of electron and photon technologies, electronics, photonics, telecommunications, automation, robotics and information technology, but also technical physics. The paper summarizes the achievements of the 38th Spring Edition of 2016 WILGA Symposium, organized in Wilga Village Resort owned by Warsaw University of technology