Rancang Bangun Sistem Transfer Video Real – TIME Menggunakan Jaringan Mobile Ad Hoc Pada Robot ITS - 01

Pengembangan robot monitoring dan surveylance banyak dikembangkan untuk memenuhi kebutuhan keamanan, pertahanan. Robot tersebut dihubungkan menggunakan standar wireless-LAN 802.11g sebagai media komunikasi data. Implementasi jaringan adhoc ditujukan untuk memberdayakan masing-masing robot dapat berfungsi sebagai router, sehingga memungkinkan untuk melakukan komunikasi multihop dari robot satu yang terdekat dengan stasiun pengontrol ke robot selanjutnya yang sudah keluar jangkauan stasiun pengontrol. Dengan demikian cakupan operasi robot monitoring menjadi semakin luas. Sistem transfer video real-time dalam pelenelitian ini dibangun menggunakan KinectTCP yang di modifikasi untuk menerima data dari robot berupa RGB,Depth dan Skeleton. Evaluasi performansi dilakukan pada topologi single hop dan multihop dengan mengukur parameter throughput, FPS, packet loss, packet delay dan jitter. Hasil pengujian menunjukkan topologi multihop dapat mendukung operasional robot dalam gedung meskipun mengalami penurunan parameter Throughput dan FPS rata-rata sebesar 82,86%, dan mengalami pertambahan delay rata-rata sebesar 149,73%

Rancang Bangun Sistem Transfer Video Real – Time Menggunakan Jaringan Mobile Ad hoc Pada Robot ITS - 01

Pengembangan robot monitoring dan surveylance banyak dikembangkan untuk memenuhi kebutuhan keamanan, pertahanan. Robot tersebut dihubungkan menggunakan standar wireless-LAN 802.11g sebagai media komunikasi data. Implementasi jaringan adhoc ditujukan untuk memberdayakan masing-masing robot dapat berfungsi sebagai router, sehingga memungkinkan untuk melakukan komunikasi multihop dari robot satu yang terdekat dengan stasiun pengontrol ke robot selanjutnya yang sudah keluar jangkauan stasiun pengontrol. Dengan demikian cakupan operasi robot monitoring menjadi semakin luas. Sistem transfer video real-time dalam pelenelitian ini dibangun menggunakan KinectTCP yang di modifikasi untuk menerima data dari robot berupa RGB,Depth dan Skeleton. Evaluasi performansi  dilakukan pada topologi single hop dan multihop dengan mengukur parameter throughput, FPS, packet loss, packet delay dan jitter. Hasil pengujian menunjukkan topologi multihop dapat mendukung operasional robot dalam gedung meskipun mengalami penurunan  parameter Throughput dan FPS rata-rata sebesar 82,86%, dan mengalami pertambahan delay rata-rata sebesar 149,73%

Development of IR-based short-range communication techniques for swarm robot applications

This paper proposes several designs for a reliable infra-red based communication techniques for swarm robotic applications. The communication system was deployed on an autonomous miniature mobile robot (AMiR), a swarm robotic platform developed earlier. In swarm applications, all participating robots must be able to communicate and share data. Hence a suitable communication medium and a reliable technique are required. This work uses infrared radiation for transmission of swarm robots messages. Infrared transmission methods such as amplitude and frequency modulations will be presented along with experimental results. Finally the effects of the modulation techniques and other parameters on collective behavior of swarm robots will be analyzed

Distributing intelligence in the wireless control of a mobile robot using a personal digital assistant

Personal Digital Assistants (PDAs) have recently become a popular component in mobile robots. This compact processing device with its touch screen, variety of built-in features, wireless technologies and affordability can perform various roles within a robotic system. Applications include low-cost prototype development, rapid prototyping, low-cost humanoid robots, robot control, robot vision systems, algorithm development, human-robot interaction, mobile user interfaces as well as wireless robot communication schemes. Limits on processing power, memory, battery life and screen size impact the usefulness of a PDA in some applications. In addition various implementation strategies exist, each with its own strengths and weaknesses. No comparison of the advantages and disadvantages of the different strategies and resulting architectures exist. This makes it difficult for designers to decide on the best use of a PDA within their mobile robot system. This dissertation examines and compares the available mobile robot architectures. A thorough literature study identifies robot projects using a PDA and examines how the designs incorporate a PDA and what purpose it fulfils within the system it forms part of. The dissertation categorises the architectures according to the role of the PDA within the robot system. The hypothesis is made that using a distributed control system architecture makes optimal use of the rich feature set gained from including a PDA in a robot system’s design and simultaneously overcomes the device’s inherent shortcomings. This architecture is developed into a novel distributed intelligence framework that is supported by a hybrid communications architecture, using two wireless connection schemes. A prototype implementation illustrates the framework and communications architecture in action. Various performance measurements are taken in a test scenario for an office robot. The results indicate that the proposed framework does deliver performance gains and is a viable alternative for future projects in this area

MS

thesisIn this research, a computerized motion planning and control system for multiple robots is presented. Medium scale wheeled mobile robot couriers move wireless antennas within a semicontrolled environment. The systems described in this work are integrated as components within Mobile Emulab, a wireless research testbed. This testbed is publicly available to users remotely via the Internet. Experimenters use a computer interface to specify desired paths and configurations for multiple robots. The robot control and coordination system autonomously creates complex movements and behaviors from high level instructions. Multiple trajectory types may be created by Mobile Emulab. Baseline paths are comprised of line segments connecting waypoints, which require robots to stop and pivot between each segment. Filleted circular arcs between line segments allow constant motion trajectories. To avoid curvature discontinuities inherent in line-arc segmented paths, higher order continuous polynomial spirals and splines are constructed in place of the constant radius arcs. Polar form nonlinear state feedback controllers executing on a computer system connected to the robots over a wireless network accomplish posture stabilization, path following and trajectory tracking control. State feedback is provided by an overhead camera based visual localization system integrated into the testbed. Kinematic control is used to generate velocity commands sent to wheel velocity servo loop controllers built into the robots. Obstacle avoidance in Mobile Emulab is accomplished through visibility graph methods. The Virtualized Phase Portrait Method is presented as an alternative. A virtual velocity field overlay is created from workspace obstacle zone data. Global stability to a single equilibrium point, with local instability in proximity to obstacle regions is designed into this system

Experimental Testbed for Swarming and Cooperative Robotic Networks

This document describes an innovative cooperative robotics multi-vehicle testbed, featuring a flexible architecture that enables the system to be rapidly adapted to different applications. It also offers tools to reduce development and implementation time. The testbed consists of ten non-holonomic car-like robots networked together to share sensor information. Each vehicle features an on-board computer for local control, and a network of devices that can be suited with a variety of hot-swappable sensors depending on the application. The entire system is integrated with Player, an open source sensor server compatible with Gazebo, a 3D world simulator. Control algorithms can be evaluated in simulation mode and then ported to the real vehicle with virtually no code change. We present a flexible and complete system that serves the study of Cooperative Control, Hybrid and Embedded Systems, Sensor Networks, Networked Control and that can be used in an extensive range of applications.School of Electrical & Computer Engineerin

Workshop on Science and the Human Exploration of Mars

The exploration of Mars will be a multi-decadal activity. Currently, a scientific program is underway, sponsored by NASA's Office of Space Science in the United States, in collaboration with international partners France, Italy, and the European Space Agency. Plans exist for the continuation of this robotic program through the first automated return of Martian samples in 2014. Mars is also a prime long-term objective for human exploration, and within NASA, efforts are being made to provide the best integration of the robotic program and future human exploration missions. From the perspective of human exploration missions, it is important to understand the scientific objectives of human missions, in order to design the appropriate systems, tools, and operational capabilities to maximize science on those missions. In addition, data from the robotic missions can provide critical environmental data - surface morphology, materials composition, evaluations of potential toxicity of surface materials, radiation, electrical and other physical properties of the Martian environment, and assessments of the probability that humans would encounter Martian life forms. Understanding of the data needs can lead to the definition of experiments that can be done in the near-term that will make the design of human missions more effective. This workshop was convened to begin a dialog between the scientific community that is central to the robotic exploration mission program and a set of experts in systems and technologies that are critical to human exploration missions. The charge to the workshop was to develop an understanding of the types of scientific exploration that would be best suited to the human exploration missions and the capabilities and limitations of human explorers in undertaking science on those missions

NASA Tech Briefs, April 1994

Topics covered: Advanced Composites and Plastics; Electronic Components and Circuits; Electronic Systems; Physical Sciences; Materials; Computer Programs; Mechanics; Machinery/Automation; Manufacturing/Fabrication; Mathematics and Information Sciences; Life Sciences; Books and Reports

Technology 2003: The Fourth National Technology Transfer Conference and Exposition, volume 2

Proceedings from symposia of the Technology 2003 Conference and Exposition, Dec. 7-9, 1993, Anaheim, CA, are presented. Volume 2 features papers on artificial intelligence, CAD&E, computer hardware, computer software, information management, photonics, robotics, test and measurement, video and imaging, and virtual reality/simulation

Advances in Human-Robot Interaction

Rapid advances in the field of robotics have made it possible to use robots not just in industrial automation but also in entertainment, rehabilitation, and home service. Since robots will likely affect many aspects of human existence, fundamental questions of human-robot interaction must be formulated and, if at all possible, resolved. Some of these questions are addressed in this collection of papers by leading HRI researchers