Develop And Implementation Of Pc Based Controller For Humanoid Robot Using Digital Potentiometer

This paper introduced to develop and implementation of PC based controller for humanoid robot using digital potentiometer. The main objective in this paper is to develop and implement the joystick controller by using a digital potentiometer circuit board that be able to control the humanoid robot movement. The Arduino board and digital potentiometer will be integrate by connecting both pins in between wiper, W pin and ground, GND to the DB9 pins of remote control platform, which is TX and RX pins respectively. Humanoid robot as known as TOMY i-SOBOT is use as a preferred model due to wide usage in many applications. A digital potentiometer will be transmitted the voltage and current value depend on the digital level through serial communication to give the instruction for humanoid robot movement. The humanoid movement based on Guided User Interface (GUI) where the user give a commands by pressing the button on the GUI such as turn left, right, forward, and reverse. The results show that the humanoid movement able to control based on the voltage and current in a digital potentiometers value

Advancing automation and robotics technology for the Space Station Freedom and for the US economy

The progress made by levels 1, 2, and 3 of the Office of Space Station in developing and applying advanced automation and robotics technology is described. Emphasis is placed upon the Space Station Freedom Program responses to specific recommendations made in the Advanced Technology Advisory Committee (ATAC) progress report 10, the flight telerobotic servicer, and the Advanced Development Program. Assessments are presented for these and other areas as they apply to the advancement of automation and robotics technology for the Space Station Freedom

Aquatic Robot Recovery Craft

In situations where someone is trapped underwater, rescue personnel must attempt a search for the body. However, this task is extremely dangerous for the divers that attempt to locate it. Drowning, hypothermia, and decompression sickness are some dangers that could happen to a diver while trying to locate a missing person. This project proposes the Aquatic Robotic Recovery Craft (ARRC), which can take the place of a diver during the search for the missing person. This system is capable of powering its thrusters to drive through the water, using a camera to look at the surrounding area, and using visual tracking to map the bottom of a body of water. Ideally, the prototype for the robot could be used by any rescue team to search for a body underwater in a safe and effective way

Quadrotor: a detailed analysis on construction and operation

It is a type of an unmanned air vehicle (UAV) which by its name suggests that consists of 4 engines to drive it. Usually we use BLDC motors and propellers as the engines of a quad. Its motion and dynamics can be compared with that of a helicopter in regards to its transverse and longitudinal motion. It has various uses in various fields of military, business, rescue mission, modern warfare etc. They have a vertical take-off and landing system. Unlike a helicopter the propellers or blades of a “Quadrotor” have fixed pitch. Control of vehicle motion is achieved by altering the pitch and/or rotation rate of one or more rotor discs, thereby changing its torque load and thrust/lift characteristics. This will be explained in details in course of the following discussion. If we look into history of the “Quadrotor”, we get to know that it was the first step towards vertical take-off and landing vehicle. At first it was a manned vehicle but now mainly the research is focused upon a unmanned “Quadrotor” which is controlled with the help of electronic signals and various other mechanisms

A simulation of energy recycling concept in automotive application using hybrid approach

This paper presents development of a simulation to demonstrate a relatively new hybrid approach in improving energy resources that is applicable in automotive industry. The existing hybrid approach in automotive industry is considerably efficient in terms of energy saving by switching between fuel and electricity for energy resources. However, both energy resources confront various challenges. While the electricity resources require recharging, the fuel resources are scarce and expensive. Therefore, in this paper we aim to propose a relatively new hybrid approach, referred to as energy recycling concept equipped with coordination algorithm. To simulate the proposed energy recycling concept, a prototype of Electrical Control Unit (ECU) car is built. Then, an algorithm that coordinates battery charging is developed and integrated with the ECU. Finally, the simulation of the proposed energy recycling concept equipped with the coordination algorithm is evaluated on the prototype of the ECU car. The results show that the proposed energy recycling concept that allows switching between two sources of energy is applicable to operate the ECU car prototype

Performance of UWB Wireless Telecommunication Positioning for Disaster Relief Communication Environment Securing

When an earthquake or a large fire has occurred, it is difficult to secure communication networks for rescue in the building due to the destruction of commercial communication networks. Although analog radio systems such as VHF (Very High Frequency) and UHF (Ultra-High Frequency) are used for rescue operation in general, communication failure occurs in closed spaces, causing difficulties in smooth rescue operations. When the communication infrastructures have been destroyed in a building in the disaster, an emergency wireless telecommunication environment should be constructed to secure a safer disaster response environment. In this study, along with comparison of the performances of diverse communication frequencies, UWB (Ultra-Wide Band) wireless telecommunication networks were evaluated under five building indoor environment conditions including open spaces. UWB communication modules were fabricated to satisfy the IEEE (The Institute of Electrical and Electronics Engineers) 802.15.4a standard performance to measure distances in which communications are possible according to the indoor environment for each of six channels with different UWB communication frequencies. The results indicated that the distances in which communications are possible for each the six channels were average 15.5 m, maximum 20 m in open spaces; average 17.33 m, maximum 20 m in corridors; average 15.3 m, maximum 20 m in indoor office environments with office fixtures; average 4.33 m, maximum 6 m in vertical spaces of stairs; and average 6.5 m, maximum 17 m in closed horizontal spaces with a fire door. In this case, the communication performance and distance performance were shown to be the most excellent at a frequency (Centre Frequency) of 6489.6 and a band of 5980.3–6998.9 MHz, which is UWB 7ch. In conclusion, it is judged that if UWB communication modules are installed in the disaster area at intervals of 20 m and multi-channels are used, communication environments can be constructed even in closed spaces

Standardization Roadmap for Unmanned Aircraft Systems, Version 1.0

This Standardization Roadmap for Unmanned Aircraft Systems, Version 1.0 (“roadmap”) represents the culmination of the UASSC’s work to identify existing standards and standards in development, assess gaps, and make recommendations for priority areas where there is a perceived need for additional standardization and/or pre-standardization R&D. The roadmap has examined 64 issue areas, identified a total of 60 gaps and corresponding recommendations across the topical areas of airworthiness; flight operations (both general concerns and application-specific ones including critical infrastructure inspections, commercial services, and public safety operations); and personnel training, qualifications, and certification. Of that total, 40 gaps/recommendations have been identified as high priority, 17 as medium priority, and 3 as low priority. A “gap” means no published standard or specification exists that covers the particular issue in question. In 36 cases, additional R&D is needed. The hope is that the roadmap will be broadly adopted by the standards community and that it will facilitate a more coherent and coordinated approach to the future development of standards for UAS. To that end, it is envisioned that the roadmap will be widely promoted and discussed over the course of the coming year, to assess progress on its implementation and to identify emerging issues that require further elaboration

Unmanned Robotic Systems and Applications

This book presents recent studies of unmanned robotic systems and their applications. With its five chapters, the book brings together important contributions from renowned international researchers. Unmanned autonomous robots are ideal candidates for applications such as rescue missions, especially in areas that are difficult to access. Swarm robotics (multiple robots working together) is another exciting application of the unmanned robotics systems, for example, coordinated search by an interconnected group of moving robots for the purpose of finding a source of hazardous emissions. These robots can behave like individuals working in a group without a centralized control

Framework de planeamento de missões para frotas de drones interligados

The usage of aerial drones has become more popular as they also become more accessible, both in economic and usability terms. Nowadays, these vehicles can present reduced dimensions and a good cost-benefit ratio, which makes it possible for several services and applications supported by aerial drone networks to emerge. Some scenarios that benefit from the use of aerial drones are the monitoring of emergency situations and natural disasters, the patrolling of urban areas and support to police forces, and tourist applications such as the real-time video transmission of points of interest. It is common for the control of the drone to be dependent on human intervention in these situations, which requires professionals specialized in its control. However, in recent years, several solutions have emerged that enable the autonomous flight of these vehicles, minimizing manual interference. Taking into account the enormous diversity of use cases, many of the existing solutions for autonomous control focus on specific scenarios. Generic mission planning platforms also exist, but most of them only allow missions consisting of linear waypoints to be traversed. These situations translate into a mission support that is not very flexible. In this dissertation, we propose a modular infrastructure that can be used in various scenarios, enabling the autonomous control and monitoring of a fleet of aerial drones in a mission context. This platform has two main components, one integrated into the onboard computer of the vehicle, and the other one in the ground control. The former allows the communication with the flight controller so that it can collect telemetry data and send movement instructions to the drone. The latter allows to monitor this data and send the commands remotely, also enabling robust mission planning with multiple drones. A mission can be described in a script that the ground module interprets, sending the commands to the assigned vehicles. These missions can describe different paths, modifying the behaviour of the drones according to external factors, such as a sensor reading. It is also possible to define plugins to be reused in various missions, for example, by integrating an algorithm that ensures that all drones maintain connectivity. The solution was evaluated in scenarios with a single drone and with the collaboration of multiple drones. The tests were performed in a simulated environment and also in an environment with real drones. The observed behaviour is similar in both scenarios.A utilização de drones aéreos tem-se vindo a popularizar à medida que estes se tornam mais acessíveis, quer em termos económicos quer em usabilidade. Atualmente, estes veículos são capazes de apresentar dimensões reduzidas e uma boa relação de custo-benefício, o que potencia que diversos serviços e aplicações suportados por redes de drones aéreos estejam a emergir. Alguns cenários que beneficiam da utilização de drones aéreos são a monitorização de situações de emergência e catástrofes naturais, a patrulha de áreas urbanas e apoio às forças policiais e aplicações turísticas como a transmissão de vídeo em tempo real de pontos de interesse. É comum que o controlo do drone esteja dependente de intervenção humana nestas situações, o que requer profissionais especializados no seu controlo. No entanto, nos últimos anos têm surgido diversas soluções que possibilitam o vôo autónomo destes veículos, minimizando a interferência manual. Perante a enorme diversidade de casos de aplicação, muitas das soluções existentes para o controlo autónomo focam-se em cenários específicos de intervenção. Existem também plataformas de planeamento genérico de missões, mas que na sua maioria apenas permitem missões constituídas por conjuntos lineares de pontos a ser percorridos. Estas situações traduzem-se num suporte a missões que é pouco flexível. Nesta dissertação propomos uma infraestrutura modular passível de ser utilizada em cenários variados, possibilitando o controlo autónomo de uma frota de drones aéreos num contexto de missão e a sua monitorização. Esta plataforma tem dois componentes principais, um integrado no computador a bordo do veículo e o outro no controlo terrestre. O primeiro permite a comunicação com o controlador de vôo para que se possa recolher diversos dados de telemetria e enviar instruções de movimento para o drone. O segundo permite monitorizar esses dados e enviar os comandos remotamente, possibilitando também um planeamento robusto de missões com múltiplos drones. Uma missão pode ser descrita num script que o módulo terrestre interpreta, enviando os comandos para os veículos atribuídos. Estas missões podem descrever diversos caminhos, modificando o comportamento dos drones de acordo com factores externos, como a leitura de um sensor. Também é possível definir plugins para serem reutilizados em várias missões, como por exemplo, integrando um algoritmo que garante que todos os drones mantêm a conectividade. A solução foi avaliada em cenários com um único drone e com a colaboração de múltiplos drones. Os testes foram executados em ambiente simulado e também num ambiente com drones reais. O comportamento observado nas missões é semelhante em ambos os cenários.Mestrado em Engenharia de Computadores e Telemátic