System Design, Motion Modelling and Planning for a Recon figurable Wheeled Mobile Robot

Over the past ve decades the use of mobile robotic rovers to perform in-situ scienti c investigations on the surfaces of the Moon and Mars has been tremendously in uential in shaping our understanding of these extraterrestrial environments. As robotic missions have evolved there has been a greater desire to explore more unstructured terrain. This has exposed mobility limitations with conventional rover designs such as getting stuck in soft soil or simply not being able to access rugged terrain. Increased mobility and terrain traversability are key requirements when considering designs for next generation planetary rovers. Coupled with these requirements is the need to autonomously navigate unstructured terrain by taking full advantage of increased mobility. To address these issues, a high degree-of-freedom recon gurable platform that is capable of energy intensive legged locomotion in obstacle-rich terrain as well as wheeled locomotion in benign terrain is proposed. The complexities of the planning task that considers the high degree-of-freedom state space of this platform are considerable. A variant of asymptotically optimal sampling-based planners that exploits the presence of dominant sub-spaces within a recon gurable mobile robot's kinematic structure is proposed to increase path quality and ensure platform safety. The contributions of this thesis include: the design and implementation of a highly mobile planetary analogue rover; motion modelling of the platform to enable novel locomotion modes, along with experimental validation of each of these capabilities; the sampling-based HBFMT* planner that hierarchically considers sub-spaces to better guide search of the complete state space; and experimental validation of the planner with the physical platform that demonstrates how the planner exploits the robot's capabilities to uidly transition between various physical geometric con gurations and wheeled/legged locomotion modes

Recent Advances in Social Data and Artificial Intelligence 2019

The importance and usefulness of subjects and topics involving social data and artificial intelligence are becoming widely recognized. This book contains invited review, expository, and original research articles dealing with, and presenting state-of-the-art accounts pf, the recent advances in the subjects of social data and artificial intelligence, and potentially their links to Cyberspace

Safety and Reliability - Safe Societies in a Changing World

The contributions cover a wide range of methodologies and application areas for safety and reliability that contribute to safe societies in a changing world. These methodologies and applications include: - foundations of risk and reliability assessment and management - mathematical methods in reliability and safety - risk assessment - risk management - system reliability - uncertainty analysis - digitalization and big data - prognostics and system health management - occupational safety - accident and incident modeling - maintenance modeling and applications - simulation for safety and reliability analysis - dynamic risk and barrier management - organizational factors and safety culture - human factors and human reliability - resilience engineering - structural reliability - natural hazards - security - economic analysis in risk managemen

Performance Analysis For Wireless G (IEEE 802.11 G) And Wireless N (IEEE 802.11 N) In Outdoor Environment

This paper described an analysis the different capabilities and limitation of both IEEE technologies that has been utilized for data transmission directed to mobile device. In this work, we have compared an IEEE 802.11/g/n outdoor environment to know what technology is better. the comparison consider on coverage area (mobility), through put and measuring the interferences. The work presented here is to help the researchers to select the best technology depending of their deploying case, and investigate the best variant for outdoor. The tool used is Iperf software which is to measure the data transmission performance of IEEE 802.11n and IEEE 802.11g

Performance analysis for wireless G (IEEE 802.11G) and wireless N (IEEE 802.11N) in outdoor environment

This paper described an analysis the different capabilities and limitation of both IEEE technologies that has been utilized for data transmission directed to mobile device. In this work, we have compared an IEEE 802.11/g/n outdoor environment to know what technology is better. The comparison consider on coverage area (mobility), throughput and measuring the interferences. The work presented here is to help the researchers to select the best technology depending of their deploying case, and investigate the best variant for outdoor. The tool used is Iperf software which is to measure the data transmission performance of IEEE 802.11n and IEEE 802.11g

LIPIcs, Volume 244, ESA 2022, Complete Volume

LIPIcs, Volume 244, ESA 2022, Complete Volum