449 research outputs found
Enabling Communication Technologies for Automated Unmanned Vehicles in Industry 4.0
Within the context of Industry 4.0, mobile robot systems such as automated
guided vehicles (AGVs) and unmanned aerial vehicles (UAVs) are one of the major
areas challenging current communication and localization technologies. Due to
stringent requirements on latency and reliability, several of the existing
solutions are not capable of meeting the performance required by industrial
automation applications. Additionally, the disparity in types and applications
of unmanned vehicle (UV) calls for more flexible communication technologies in
order to address their specific requirements. In this paper, we propose several
use cases for UVs within the context of Industry 4.0 and consider their
respective requirements. We also identify wireless technologies that support
the deployment of UVs as envisioned in Industry 4.0 scenarios.Comment: 7 pages, 1 figure, 1 tabl
Tahap penguasaan, sikap dan minat pelajar Kolej Kemahiran Tinggi MARA terhadap mata pelajaran Bahasa Inggeris
Kajian ini dilakukan untuk mengenal pasti tahap penguasaan, sikap dan minat pelajar
Kolej Kemahiran Tinggi Mara Sri Gading terhadap Bahasa Inggeris. Kajian yang
dijalankan ini berbentuk deskriptif atau lebih dikenali sebagai kaedah tinjauan. Seramai
325 orang pelajar Diploma in Construction Technology dari Kolej Kemahiran Tinggi
Mara di daerah Batu Pahat telah dipilih sebagai sampel dalam kajian ini. Data yang
diperoleh melalui instrument soal selidik telah dianalisis untuk mendapatkan
pengukuran min, sisihan piawai, dan Pekali Korelasi Pearson untuk melihat hubungan
hasil dapatan data. Manakala, frekuensi dan peratusan digunakan bagi mengukur
penguasaan pelajar. Hasil dapatan kajian menunjukkan bahawa tahap penguasaan
Bahasa Inggeris pelajar adalah berada pada tahap sederhana manakala faktor utama yang
mempengaruhi penguasaan Bahasa Inggeris tersebut adalah minat diikuti oleh sikap.
Hasil dapatan menggunakan pekali Korelasi Pearson juga menunjukkan bahawa terdapat
hubungan yang signifikan antara sikap dengan penguasaan Bahasa Inggeris dan antara
minat dengan penguasaan Bahasa Inggeris. Kajian menunjukkan bahawa semakin positif
sikap dan minat pelajar terhadap pengajaran dan pembelajaran Bahasa Inggeris semakin
tinggi pencapaian mereka. Hasil daripada kajian ini diharapkan dapat membantu pelajar
dalam meningkatkan penguasaan Bahasa Inggeris dengan memupuk sikap positif dalam
diri serta meningkatkan minat mereka terhadap Bahasa Inggeris dengan lebih baik. Oleh
itu, diharap kajian ini dapat memberi panduan kepada pihak-pihak yang terlibat dalam
membuat kajian yang akan datang
Robust mobile robot localization based on a security laser: An industry case study
This paper aims to address a mobile robot localization system that avoids using a dedicated laser scanner, making it possible to reduce implementation costs and the robot's size. The system has enough precision and robustness to meet the requirements of industrial environments. Design/methodology/approach - Using an algorithm for artificial beacon detection combined with a Kalman Filter and an outlier rejection method, it was possible to enhance the precision and robustness of the overall localization system. Findings - Usually, industrial automatic guide vehicles feature two kinds of lasers: one for navigation placed on top of the robot and another for obstacle detection (security lasers). Recently, security lasers extended their output data with obstacle distance (contours) and reflectivity. These new features made it possible to develop a novel localization system based on a security laser. Research limitations/implications - Once the proposed methodology is completely validated, in the future, a scheme for global localization and failure detection should be addressed. Practical implications - This paper presents a comparison between the presented approach and a commercial localization system for industry. The proposed algorithms were tested in an industrial application under realistic working conditions. Social implications - The presented methodology represents a gain in the effective cost of the mobile robot platform, as it discards the need for a dedicated laser for localization purposes. Originality/value - This paper presents a novel approach that benefits from the presence of a security laser on mobile robots (mandatory sensor when considering industrial applications), using it simultaneously with other sensors, not only to guarantee safety conditions during operation but also to locate the robot in the environment. This paper is also valuable because of the comparison made with a commercialized system, as well as the tests conducted in real industrial environments, which prove that the approach presented is suitable for working under these demanding conditions.Project "TEC4Growth" - Pervasive Intelligence, Enhancers and Proofs of Concept with Industrial Impact/NORTE-01-0145-FEDER-000020" is fnanced by the North Portugal Regional Operational Programme (NORTE 2020), under the PORTUGAL 2020 Partnership Agreement, and through the European Regional Development Fund (ERDF).info:eu-repo/semantics/publishedVersio
Using a mobile robot for hazardous substances detection in a factory environment
Dupla diplomação com a UTFPR - Universidade Tecnológica Federal do ParanáIndustries that work with toxic materials need extensive security protocols to avoid accidents.
Instead of having fixed sensors, the concept of assembling the sensors on a mobile
robot that performs the scanning through a defined path is cheaper, configurable and
adaptable. This work describes a mobile robot, equipped with several gas sensors and
LIDAR, that follows a trajectory based on waypoints, simulating a working Autonomous
Guided Vehicle (AGV). At the same time, the robot keeps measuring for toxic gases. In
other words, the robot follows the trajectory while the gas concentration is under a defined
value. Otherwise, it starts the autonomous leakage search based on a search algorithm
that allows to find the leakage position avoiding obstacles in real time. The proposed
methodology is verified in simulation based on a model of the real robot. Therefore, three
path plannings were developed and their performance compared. A Light Detection And
Ranging (LIDAR) device was integrated with the path planning to propose an obstacle
avoidance system with a dilation technique to enlarge the obstacles, thus, considering the
robot’s dimensions. Moreover, if needed, the robot can be remotely operated with visual
feedback. In addition, a controller was made for the robot. Gas sensors were embedded in
the robot with Finite Impulse Response (FIR) filter to process the data. A low cost AGV
was developed to compete in Festival Nacional de Robótica (Portuguese Robotics Open)
2019 - Gondomar, describing the robot’s control and software solution to the competition.As indústrias que trabalham com materiais tóxicos necessitam de extensos protocolos
de segurança para evitar acidentes. Ao invés de ter sensores estáticos, o conceito de
instalar sensores em um robô móvel que inspeciona através de um caminho definido é mais
barato, configurável e adaptável. O presente trabalho descreve um robô móvel, equipado
com vários sensores de gás e LIDAR, que percorre uma trajetória baseada em pontos
de controle, simulando um AGV em trabalho. Em simultâneo são efetuadas medidas de
gases tóxicos. Em outras palavras, o robô segue uma trajetória enquanto a concentração
de gás está abaixo de um valor definido. Caso contrário, inicia uma busca autônoma
de vazamento de gás com um algoritmo de busca que permite achar a posição do gás
evitando os obstáculos em tempo real. A metodologia proposta é verificada em simulação.
Três algoritmos de planejamento de caminho foram desenvolvidos e suas performances
comparadas. Um LIDAR foi integrado com o planejamento de caminho para propôr
um sistema de evitar obstáculos. Além disso, o robô pode ser operado remotamente com
auxílio visual. Foi feito um controlador para o robô. Sensores de gás foram embarcados no
robô com um filtro de resposta ao impulso finita para processar as informações. Um veículo
guiado automático de baixo custo foi desenvolvido para competir no Festival Nacional de
Robótica 2019 - Gondomar. O controle do veículo foi descrito com o programa de solução
para a competição
Cost optimization in AGV applications
A otimização de custos em aplicações com veículos autónomos pode ser conseguida em diversas frentes. Nesta dissertação estudam-se e comparam-se soluções a três problemas: a interface entre instalador/operador do robô; a otimização de variáveis na solução de um problema de logística; e a escolha dos sensores afetos ao sistema de navegação
2D cloud template matching - a comparison between iterative closest point and perfect match
Self-localization of mobile robots in the environment is one of the most fundamental problems in the robotics field. It is a complex and challenging problem due to the high requirements of autonomous mobile vehicles, particularly with regard to algorithms accuracy, robustness and computational efficiency. In this paper we present the comparison of two of the most used map-matching algorithm, which are the Iterative Closest Point and the Perfect Match. This category of algorithms are normally applied in localization based on natural landmarks. They were compared using an extensive collection of metrics, such as accuracy, computational efficiency, convergence speed, maximum admissible initialization error and robustness to outliers in the robots sensors data. The test results were performed in both simulated and real world environments.info:eu-repo/semantics/publishedVersio
SLAM research for port AGV based on 2D LIDAR
With the increase in international trade, the transshipment of goods at international container ports is very busy. The AGV (Automated Guided Vehicle) has been used as a new generation of automated container horizontal transport equipment. The AGV is an automated unmanned vehicle that can work 24 hours a day, increasing productivity and reducing labor costs compared to using container trucks. The ability to obtain information about the surrounding environment is a prerequisite for the AGV to automatically complete tasks in the port area. At present, the method of AGV based on RFID tag positioning and navigation has a problem of excessive cost. This dissertation has carried out a research on applying light detection and ranging (LIDAR) simultaneous localization and mapping (SLAM) technology to port AGV. In this master's thesis, a mobile test platform based on a laser range finder is developed to scan 360-degree environmental information (distance and angle) centered on the LIDAR and upload the information to a real-time database to generate surrounding environmental maps, and the obstacle avoidance strategy was developed based on the acquired information. The effectiveness of the platform was verified by the experiments from multiple scenarios. Then based on the first platform, another experimental platform with encoder and IMU sensor was developed. In this platform, the functionality of SLAM is enabled by the GMapping algorithm and the installation of the encoder and IMU sensor. Based on the established environment SLAM map, the path planning and obstacle avoidance functions of the platform were realized.Com o aumento do comércio internacional, o transbordo de mercadorias em portos internacionais de contentores é muito movimentado. O AGV (“Automated Guided Vehicle”) foi usado como uma nova geração de equipamentos para transporte horizontal de contentores de forma automatizada. O AGV é um veículo não tripulado automatizado que pode funcionar 24 horas por dia, aumentando a produtividade e reduzindo os custos de mão-de-obra em comparação com o uso de camiões porta-contentores. A capacidade de obter informações sobre o ambiente circundante é um pré-requisito para o AGV concluir automaticamente tarefas na área portuária. Atualmente, o método de AGV baseado no posicionamento e navegação de etiquetas RFID apresenta um problema de custo excessivo. Nesta dissertação foi realizada uma pesquisa sobre a aplicação da tecnologia LIDAR de localização e mapeamento simultâneo (SLAM) num AGV. Uma plataforma de teste móvel baseada num telémetro a laser é desenvolvida para examinar o ambiente em redor em 360 graus (distância e ângulo), centrado no LIDAR, e fazer upload da informação para uma base de dados em tempo real para gerar um mapa do ambiente em redor. Uma estratégia de prevenção de obstáculos foi também desenvolvida com base nas informações adquiridas. A eficácia da plataforma foi verificada através da realização de testes com vários cenários e obstáculos. Por fim, com base na primeira plataforma, uma outra plataforma experimental com codificador e sensor IMU foi também desenvolvida. Nesta plataforma, a funcionalidade do SLAM é ativada pelo algoritmo GMapping e pela instalação do codificador e do sensor IMU. Com base no estabelecimento do ambiente circundante SLAM, foram realizadas as funções de planeamento de trajetória e prevenção de obstáculos pela plataforma
Efficient calibration of four wheel industrial AGVs
In this paper, we propose a novel method for extrinsic and intrinsic automatic calibration of four wheel industrial Automated Guided Vehicles (AGVs) compliant with Ackermann and Dual Drive kinematics. For each kinematic model the algorithm estimates the trajectories measured by an on-board sensor and the expected ones given the state of the wheels. The estimation exploits the model equations derived in this work which constrain calibration parameters and measurements from wheel encoders and sensor odometry. The parameter values are computed through closed-form solutions of least-square estimation. The method has been implemented on Programmable Logic Controllers and tested on industrial AGVs. The developed procedure computes the parameters in about 10−15 minutes, a significant improvement compared with one hour or more required by manual AGV calibration. Experiments with AGVs of various sizes in a warehouse have assessed the accuracy and stability of the proposed approach. The position accuracy achieved by AGVs calibrated with the proposed method is higher than the one achieved by manual calibration
Automatic Routing System for Intelligent Warehouses
Automation of logistic processes is essential to improve productivity and
reduce costs. In this context, intelligent warehouses are becoming a key to
logistic systems thanks to their ability of optimizing transportation tasks
and, consequently, reducing costs. This paper initially presents briefly
routing systems applied on intelligent warehouses. Then, we present the
approach used to develop our router system. This router system is able to solve
traffic jams and collisions, generate conflict-free and optimized paths before
sending the final paths to the robotic forklifts. It also verifies the progress
of all tasks. When a problem occurs, the router system can change the task
priorities, routes, etc. in order to avoid new conflicts. In the routing
simulations, each vehicle executes its tasks starting from a predefined initial
pose, moving to the desired position. Our algorithm is based on Dijkstra's
shortest path and the time window approaches and it was implemented in C
language. Computer simulation tests were used to validate the algorithm
efficiency under different working conditions. Several simulations were carried
out using the Player/Stage Simulator to test the algorithms. Thanks to the
simulations, we could solve many faults and refine the algorithms before
embedding them in real robots.Comment: 2010 IEEE International Conference on Robotics and Automation,
International workshop on Robotics and Intelligent Transportation System,
Full Day Workshop, May 7th 2010, Anchorage, Alaska. Organizers,Christian
Laugier (INRIA, France), Ming Lin (University of North Carolina, USA),
Philippe Martinet IFMA and LASMEA, France),Urbano Nunes (ISR, Portugal
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