Modular Omni-directional AGV Developmental Platform with Integrated Suspension, Power-plant and Control Systems

The thesis focuses on the development of an industrial automatic guided vehicle (AGV) with omni-directional capabilities. The omni-directional strategy used was the "swerve drive" system, a system whereby a wheel can be rotated about both its y axis (rolling axis) and z axis (vertical axis). Unlike most commonly used swerve drive systems that have swerve capabilities on each wheel attached to the body of the vehicle, this research seeks to reduce cost by only having swerve capabilities on two diagonal wheels. The remaining two wheels will act as castor units. AC drives are used on the system in place of more traditional DC drives, due to their cost vs capability advantage over DC and their prevalence in the industrial environment. Since an AGV is a mobile platform any power source found on it is usually derived from batteries, a DC source. Usage of DC introduces several limitations including difficulty transforming voltage levels for different systems, inability to run AC drives directly from the power source and comparably larger conduction wires. These limitations were overcome by adding a stand-alone power-plant on the AGV in the form of an inverter. The inverter transformed the DC power supplied by a battery bank from 48 volts DC to 230 volts AC. Thus, the primary focus of this research is on the development and validation of a novel two wheel omni-directional drive system that makes use of inexpensive and readily available components that have already been proven to work in industry.Thesis (PhD) -- Faculty of Engineering, the Built Environment, and Technology, 202

Design and analysis of Intelligent Navigational controller for Mobile Robot

Since last several years requirement graph for autonomous mobile robots according to its virtual application has always been an upward one. Smother and faster mobile robots navigation with multiple function are the necessity of the day. This research is based on navigation system as well as kinematics model analysis for autonomous mobile robot in known environments. To execute and attain introductory robotic behaviour inside environments(e.g. obstacle avoidance, wall or edge following and target seeking) robot uses method of perception, sensor integration and fusion. With the help of these sensors robot creates its collision free path and analyse an environmental map time to time. Mobile robot navigation in an unfamiliar environment can be successfully studied here using online sensor fusion and integration. Various AI algorithm are used to describe overall procedure of mobilerobot navigation and its path planning problem. To design suitable controller that create collision free path are achieved by the combined study of kinematics analysis of motion as well as an artificial intelligent technique. In fuzzy logic approach, a set of linguistic fuzzy rules are generated for navigation of mobile robot. An expert controller has been developed for the navigation in various condition of environment using these fuzzy rules. Further, type-2 fuzzy is employed to simplify and clarify the developed control algorithm more accurately due to fuzzy logic limitations. In addition, recurrent neural network (RNN) methodology has been analysed for robot navigation. Which helps the model at the time of learning stage. The robustness of controller has been checked on Webots simulation platform. Simulation results and performance of the controller using Webots platform show that, the mobile robot is capable for avoiding obstacles and reaching the termination point in efficient manner

Sensor based real-time mechatronic control of computer integrated manufacturing

Thesis (M.Sc.Eng.)-University of KwaZulu-Natal, Durban, 2008Industrial competition is characterised by increasing globalisation of markets, coupled wit

Effort reduction and collision avoidance for powered wheelchairs : SCAD assistive mobility system

The new research described in this dissertation created systems and methods to assist wheelchair users and provide them with new realistic and interesting driving opportunities. The work also created and applied novel effort reduction and collision avoidance systems and some new electronic interactive devices. A Scanning Collision Avoidance Device (SCAD) was created that attached to standard powered wheelchairs to help prevent children from driving into things. Initially, mechanical bumpers were used but they made many wheelchairs unwieldy, so a novel system that rotated a single ultra-sonic transducer was created. The SCAD provided wheelchair guidance and assisted with steering. Optical side object detectors were included to cover blind spots and also assist with doorway navigation. A steering lockout mode was also included for training, which stopped the wheelchair from driving towards a detected object. Some drivers did not have sufficient manual dexterity to operate a reverse control. A reverse turn manoeuvring mode was added that applied a sequential reverse and turn function, enabling a driver to escape from a confined situation by operating a single turn control. A new generation of Proportional SCAD was created that operated with proportional control inputs rather than switches and new systems were created to reduce veer, including effort reduction systems. New variable switches were created that provided variable speed control in place of standard digital switches and all that research reduced the number of control actions required by a driver. Finally, some new systems were created to motivate individuals to try new activities. These included a track guided train and an adventure playground that including new interactive systems. The research was initially inspired by the needs of young people at Chailey Heritage, the novel systems provided new and more autonomous driving opportunities for many powered wheelchair users in less structured environments.EThOS - Electronic Theses Online ServiceGBUnited Kingdo

Automation and Robotics: Latest Achievements, Challenges and Prospects

This SI presents the latest achievements, challenges and prospects for drives, actuators, sensors, controls and robot navigation with reverse validation and applications in the field of industrial automation and robotics. Automation, supported by robotics, can effectively speed up and improve production. The industrialization of complex mechatronic components, especially robots, requires a large number of special processes already in the pre-production stage provided by modelling and simulation. This area of research from the very beginning includes drives, process technology, actuators, sensors, control systems and all connections in mechatronic systems. Automation and robotics form broad-spectrum areas of research, which are tightly interconnected. To reduce costs in the pre-production stage and to reduce production preparation time, it is necessary to solve complex tasks in the form of simulation with the use of standard software products and new technologies that allow, for example, machine vision and other imaging tools to examine new physical contexts, dependencies and connections