Uncertainty Minimization in Robotic 3D Mapping Systems Operating in Dynamic Large-Scale Environments

This dissertation research is motivated by the potential and promise of 3D sensing technologies in safety and security applications. With specific focus on unmanned robotic mapping to aid clean-up of hazardous environments, under-vehicle inspection, automatic runway/pavement inspection and modeling of urban environments, we develop modular, multi-sensor, multi-modality robotic 3D imaging prototypes using localization/navigation hardware, laser range scanners and video cameras. While deploying our multi-modality complementary approach to pose and structure recovery in dynamic real-world operating conditions, we observe several data fusion issues that state-of-the-art methodologies are not able to handle. Different bounds on the noise model of heterogeneous sensors, the dynamism of the operating conditions and the interaction of the sensing mechanisms with the environment introduce situations where sensors can intermittently degenerate to accuracy levels lower than their design specification. This observation necessitates the derivation of methods to integrate multi-sensor data considering sensor conflict, performance degradation and potential failure during operation. Our work in this dissertation contributes the derivation of a fault-diagnosis framework inspired by information complexity theory to the data fusion literature. We implement the framework as opportunistic sensing intelligence that is able to evolve a belief policy on the sensors within the multi-agent 3D mapping systems to survive and counter concerns of failure in challenging operating conditions. The implementation of the information-theoretic framework, in addition to eliminating failed/non-functional sensors and avoiding catastrophic fusion, is able to minimize uncertainty during autonomous operation by adaptively deciding to fuse or choose believable sensors. We demonstrate our framework through experiments in multi-sensor robot state localization in large scale dynamic environments and vision-based 3D inference. Our modular hardware and software design of robotic imaging prototypes along with the opportunistic sensing intelligence provides significant improvements towards autonomous accurate photo-realistic 3D mapping and remote visualization of scenes for the motivating applications

Docking solutions for smart autonomous mobile units

Dissertação de mestrado integrado em Engenharia Eletrónica Industrial e ComputadoresDocking solutions are key in the development of smart autonomous vehicles for industrial applications. Throughout the course of every autonomous vehicle workflow inside a factory, there will be moments where parking or picking cargo is needed. As these maneuvers require a precise positioning, without a correct approach, the maneuvers become ineffective jeopardizing all the automation of the process and as result, the maneuver success. Collaborating with the team of the sub-project P24 ”Autonomous Milk-Runs” result of a partnership between University of Minho and Bosch Car Multimedia Portugal S.A., this dissertation aims to conceive and develop docking maneuvers solutions for one of the prototype smart autonomous units, the stacker vehicles. In Bosch’s Braga Plant (BrgP) factory stacker vehicles are required to deliver packagings material and move finished goods within different areas on the warehouse. Stackers will then need to pick the products placed on pallets at the production lines end as the established workflow requires. This area consists in a long and narrow corridor where the stacker vehicles will need to maneuver correctly in order to pick the targeted pallets signalized by logistics. To develop a docking solution, the study of mobile vehicles kinematics, the development of behavioral based dynamics and the implementation of a pallet detection algorithm was needed to match the factory workflow and requirements. The proposed solution allows the stacker vehicles to respect their workspace constraints, with docking capabilities under multiple circumstances.Soluções de acostagem são importantes no desenvolvimento de veículos autónomos para aplicações industriais. Durante o curso das tarefas de um veículo autónomo dentro de uma fábrica, irão existir momentos em que parqueamento e o levantamento de cargas é necessário. Como estas manobras requerem um posicionamento preciso, se a abordagem não for a mais correta, as mesmas tornam-se obsoletas, colocando em causa toda a automatização do processo e, como consequência, o seu sucesso. Colaborando com a equipa do sub-projeto P24 ”Autonomous Milk-Runs” resultante da parceria entre a Universidade do Minho e a Bosch Car Multimedia Portugal S.A., esta dissertação aponta à conceção e desenvolvimento de soluções para manobras de acoplamento para uma das unidades autónomas inteligentes em análise, os empilhadores. Na fábrica da Bosch Braga Plant (BrgP), é requerido aos veículos empilhadores a entrega de bens finalizados dentro de diferentes áreas no armazém. Os empilhadores deverão então levantar os produtos colocados em paletes no final da linhas de produção, tal como o fluxo de trabalho estabelecido para estes indica. Esta área consiste em um longo e apertado corredor, onde os veículos empilhadores irão necessitar de manobrar corretamente de modo a levantar as paletes alvo sinalizadas pela logística. Para a desenvolver uma solução de acoplamento, o estudo da cinemática de veículos móveis, o desenvolvimento de uma dinâmica baseada em comportamento e a implementação de um algoritmo de deteção de paletes foram necessários de modo a cumprir com os requisitos e fluxo de trabalho impostos pela empresa. A solução proposta permite aos veículos empilhadores respeitarem o seu espaço de trabalho, tendo capacidade de acoplamento para circunstâncias múltiplas

Mechatronic Systems

Mechatronics, the synergistic blend of mechanics, electronics, and computer science, has evolved over the past twenty five years, leading to a novel stage of engineering design. By integrating the best design practices with the most advanced technologies, mechatronics aims at realizing high-quality products, guaranteeing at the same time a substantial reduction of time and costs of manufacturing. Mechatronic systems are manifold and range from machine components, motion generators, and power producing machines to more complex devices, such as robotic systems and transportation vehicles. With its twenty chapters, which collect contributions from many researchers worldwide, this book provides an excellent survey of recent work in the field of mechatronics with applications in various fields, like robotics, medical and assistive technology, human-machine interaction, unmanned vehicles, manufacturing, and education. We would like to thank all the authors who have invested a great deal of time to write such interesting chapters, which we are sure will be valuable to the readers. Chapters 1 to 6 deal with applications of mechatronics for the development of robotic systems. Medical and assistive technologies and human-machine interaction systems are the topic of chapters 7 to 13.Chapters 14 and 15 concern mechatronic systems for autonomous vehicles. Chapters 16-19 deal with mechatronics in manufacturing contexts. Chapter 20 concludes the book, describing a method for the installation of mechatronics education in schools

Advanced Applications of Rapid Prototyping Technology in Modern Engineering

Rapid prototyping (RP) technology has been widely known and appreciated due to its flexible and customized manufacturing capabilities. The widely studied RP techniques include stereolithography apparatus (SLA), selective laser sintering (SLS), three-dimensional printing (3DP), fused deposition modeling (FDM), 3D plotting, solid ground curing (SGC), multiphase jet solidification (MJS), laminated object manufacturing (LOM). Different techniques are associated with different materials and/or processing principles and thus are devoted to specific applications. RP technology has no longer been only for prototype building rather has been extended for real industrial manufacturing solutions. Today, the RP technology has contributed to almost all engineering areas that include mechanical, materials, industrial, aerospace, electrical and most recently biomedical engineering. This book aims to present the advanced development of RP technologies in various engineering areas as the solutions to the real world engineering problems

Template matching based TRN using Flash LiDAR

학위논문 (석사)-- 서울대학교 대학원 : 공과대학 기계항공공학부, 2018. 8. 박찬국.This thesis compares and analyzes a performance of template matching based terrain referenced navigation (TMTRN) using correlation functions according to different error types and correlation functions. Conventional batch processing TRN generally utilizes the radar altimeter and adopts mean square difference (MSD), mean absolute difference (MAD), and normalized cross correlation (NCC) for matching a batch profile with terrain database. If a flash LiDAR is utilized instead of the radar, it is possible to build a profile in one-shot. A point cloud of the flash LiDAR can be transformed into 2D profile, unlike a vector profile obtained from batch processing. Therefore, by using the flash LiDAR we can apply new correlation functions such as image Euclidean distance (IMED) and image normalized cross correlation (IMNCC) which have been used in computer vision field. The simulation result shows that IMED is the most robust for different types of errors.Chapter 1 Introduction 1 1.1 Motivation and background . . . . . . . . . . . . . . . . . . . . . 1 1.2 Objectives and contributions . . . . . . . . . . . . . . . . . . . . 3 Chapter 2 Related Works 5 2.1 Terrain Referenced Navigation . . . . . . . . . . . . . . . . . . . 5 2.1.1 LiDAR-based TRN . . . . . . . . . . . . . . . . . . . . . . 10 2.1.2 Image-based TRN . . . . . . . . . . . . . . . . . . . . . . 13 2.2 Template Matching . . . . . . . . . . . . . . . . . . . . . . . . . . 16 2.2.1 General idea of template matching . . . . . . . . . . . . . 16 2.2.2 Correlation function . . . . . . . . . . . . . . . . . . . . . 17 Chapter 3 Template matching based TRN 22 3.1 Relationship with BPTRN . . . . . . . . . . . . . . . . . . . . . . 22 3.2 TMTRN algorithm . . . . . . . . . . . . . . . . . . . . . . . . . . 24 Chapter 4 Simulation Results 30 4.1 Template matching of terrain PC . . . . . . . . . . . . . . . . . . 30 4.2 TMTRN simulation . . . . . . . . . . . . . . . . . . . . . . . . . 33 Chapter 5 Conclusions and Future Works 46 5.1 Summary of the contribution . . . . . . . . . . . . . . . . . . . . 46 5.2 Future works . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47Maste

NASA SBIR abstracts of 1990 phase 1 projects

The research objectives of the 280 projects placed under contract in the National Aeronautics and Space Administration (NASA) 1990 Small Business Innovation Research (SBIR) Phase 1 program are described. The basic document consists of edited, non-proprietary abstracts of the winning proposals submitted by small businesses in response to NASA's 1990 SBIR Phase 1 Program Solicitation. The abstracts are presented under the 15 technical topics within which Phase 1 proposals were solicited. Each project was assigned a sequential identifying number from 001 to 280, in order of its appearance in the body of the report. The document also includes Appendixes to provide additional information about the SBIR program and permit cross-reference in the 1990 Phase 1 projects by company name, location by state, principal investigator, NASA field center responsible for management of each project, and NASA contract number

Intelligent Mobile Sensor System for drum inspection and monitoring -- Volume 1. Final report, October 1, 1993--April 22, 1995

The objective of the Intelligent Mobile Sensor System (IMSS) project is to develop an operational system for monitoring and inspection activities for waste storage facility operations at several DOE sites. Specifically, the product of this effort is a robotic device with enhanced intelligence and maneuverability capable of conducting routine inspection of stored waste drums. The device is capable of operating in the narrow free aisle space between rows of stacked drums. The system has an integrated sensor suite for problem-drum detection, and is linked to a site database both for inspection planning and for data correlation, updating, and report generation. The system is capable of departing on an assigned mission, collecting required data, recording which portions of its mission had to be aborted or modified due to environmental constraints, and reporting back when the mission is complete. Successful identification of more than 96% of drum defects has been demonstrated in a high fidelity waste storage facility mockup. Identified anomalies included rust spots, rust streaks, areas of corrosion, dents, and tilted drums. All drums were positively identified and correlated with the site database. This development effort is separated into three phases of which phase two is now complete. The first phase demonstrated an integrated system (maturity level IVa) for monitoring and inspection activities for waste storage facility operations. The second phase demonstrated a prototype system appropriate for operational use in an actual storage facility. The prototype provides an integrated design that considers operational requirements, hardware costs, maintenance, safety, and robustness. The final phase will demonstrate commercial viability using the prototype vehicle in a pilot waste operations and inspection project. This report summarizes the design and evaluation of the new IMSS Phase 2 system and vehicle