Design and implementation of architecture for multi-robot cooperation in the context of WSN

International audienceThe concept of autonomous mobile agents gets a lot of attention in the domain of wireless sensor networks (WSN) or wireless sensor and actuator networks (WSAN). Multiple robots that coordinate or cooperate with other sensors, robots or human operator, allow the WSN/WSAN to perform tasks that are far beyond the scope of single robot unit. In this work, we describe the robot middleware architecture that allows networked multi-robot control and data acquisition in the context of wireless sensor networks. Furthermore, we present three examples of robot network deployment and illustrate the proposed architecture usability: the robotic network deployment with the goal of covering the Point of Interest, adaptable multi-hop video transmission scenario, and the case of obtaining the energy consumption during the deployment

A framework of contextual knowledge in three dimensional computer aided design for mechanical engineering undergraduates

Today’s industries demand engineering graduates who are equipped with good knowledge and skills in using modern Three Dimensional Computer Aided Design (3D CAD). However, the recent research findings show that there is a lack of contextual knowledge among Mechanical Engineering Undergraduates when utilizing 3D CAD modeling software to develop a good product design. Most of them are not able to contextualize their created model in the aspects of manufacturing and user applications. This study was conducted to explore the essential contextual knowledge elements in the process of developing 3D CAD models among practitioners in manufacturing industries. The constructs of digital product modeling were established for this study, known as the contexts of Model Creation, Model Manipulation, Model Visualization and Model Transfer. A transcendental phenomenology approach was used as the main research design of this study. The participants of this study were practicing engineers from a shipbuilding company in Peninsular Malaysia. They have been purposefully selected to explore their experiences in utilizing the elements of contextual knowledge in 3D CAD modeling applications in their daily design works. All collected data were analyzed using phenomenological analysis. The textural and structural descriptions were gathered to capture what and how the essential contextual knowledge elements from each practicing engineer in the application of 3D CAD modeling within four digital product modeling contexts. Relevant documents were analyzed from practicing engineers to triangulate the main data for this study. The study has successfully developed a framework of Contextual Knowledge in 3D CAD modeling, which consists of three main elements: Realization, Design Intention and Normalization. By injecting these three elements in teaching and learning 3D CAD modeling, students can be expected to develop a creative and innovative product design and may lead to better usability of 3D CAD software in the product modeling process

Entwicklung einer semantischen Missionssteuerung für autonome Inspektionsroboter

Ziel dieser Arbeit ist die Entwicklung einer semantischen Missionssteuerung für autonome Inspektionsroboter, welche es ermöglicht, den Regelkreis bestehend aus Inspektionsplanung, Planausführung, Inspektionsdatenauswertung, Bewertung der Datenauswertungsergebnisse, Entscheidungsfindung und Neuplanung an Bord des Roboters zu schließen

Context-based design of robotic systems

The need for improving the robustness, as well as the ability to adapt to different operational conditions, is a key requirement for a wider deployment of robots in many application domains. In this paper, we present an approach to the design of robotic systems, that is based on the explicit representation of knowledge about context. The goal of the approach is to improve the system's performance, by dynamically tailoring the functionalities of the robot to the specific features of the situation at hand. While the idea of using contextual knowledge is not new, the proposed approach generalizes previous work, and its advantages are discussed through a case study including several experiments. In particular, we identify many attempts to use contextual knowledge in several basic functionalities of a mobile robot such as: behavior, navigation, exploration, localization, mapping and perception. We then show how re-designing our mobile platform with a common representation of contextual knowledge, leads to interesting improvements in many of the above mentioned components, thus achieving greater flexibility and robustness in the face of different situations. Moreover, a clear separation of contextual knowledge leads to a design methodology, which supports the design of small specialized system components instead of complex self-contained subsystems. © 2008 Elsevier B.V. All rights reserved