542 research outputs found
Tag Recognition for Quadcopter Drone Movement
Unmanned Aerial Vehicle (UAV) drone such as Parrot AR.Drone 2.0 is a flying mobile robot which has been popularly researched for the application of search and rescue mission. In this project, Robot Operating System (ROS), a free open source platform for developing robot control software is used to develop a tag recognition program for drone movement. ROS is popular with mobile robotics application development because sensors data transmission for robot control system analysis will be very handy with the use of ROS nodes and packages once the installation and compilation is done correctly. It is expected that the drone can communicate with a laptop via ROS nodes for sensors data transmission which will be further analyzed and processed for the close-loop control system. The developed program consisting of several packages is aimed to demonstrate the recognition of different tags by the drone which will be transformed into a movement command with respect to the tag recognized; in other words, a visual-based navigation program is developed
Formation control of nonholonomic mobile robots using implicit polynomials and elliptic Fourier descriptors
This paper presents a novel method for the formation control of a group of nonholonomic mobile robots using implicit and parametric descriptions of the desired formation shape. The formation control strategy employs implicit polynomial (IP) representations to generate potential fields for achieving the desired formation and the elliptical Fourier descriptors (EFD) to maintain the formation once achieved. Coordination of the robots is modeled by linear springs between each robot and its two nearest neighbors. Advantages of this new method are increased flexibility in the formation shape, scalability to different swarm sizes and easy implementation. The shape formation control is first developed for point particle robots and then extended to nonholonomic mobile robots. Several simulations with robot groups of different sizes are presented to validate our proposed approach
Mobile crawler robot vibration analysis in the contexts of motion speed selection
The article presents the methodology of body vibration analysis of an inspection robot with the use of flexible connection between the body and the track propulsion modules. The article presents the methodology of selection of motion parameters of an inspection robot, taking into account the vibration of the robot body. The speed of movement of the robot affects the frequency of contact track claws with the ground, which is related to the frequency of vibration excitation. Robot motion parameters are chosen in such a way so as not to over-stimulate the natural frequency of the system. Due to the vibration reduction, it was possible to install a visual system based on an Ethernet video camera without a stabilizer in the body of the robot. Such an approach enables mass production of robots without active suppression systems and video stabilizers which generate high production costs, increase weight of robots and energy consumption
Tag Recognition for Quadcopter Drone Movement
Unmanned Aerial Vehicle (UAV) drone such as Parrot AR.Drone 2.0 is a flying mobile robot which has been popularly researched for the application of search and rescue mission. In this project, Robot Operating System (ROS), a free open source platform for developing robot control software is used to develop a tag recognition program for drone movement. ROS is popular with mobile robotics application development because sensors data transmission for robot control system analysis will be very handy with the use of ROS nodes and packages once the installation and compilation is done correctly. It is expected that the drone can communicate with a laptop via ROS nodes for sensors data transmission which will be further analyzed and processed for the close-loop control system. The developed program consisting of several packages is aimed to demonstrate the recognition of different tags by the drone which will be transformed into a movement command with respect to the tag recognized; in other words, a visual-based navigation program is developed
Robotic Wireless Sensor Networks
In this chapter, we present a literature survey of an emerging, cutting-edge,
and multi-disciplinary field of research at the intersection of Robotics and
Wireless Sensor Networks (WSN) which we refer to as Robotic Wireless Sensor
Networks (RWSN). We define a RWSN as an autonomous networked multi-robot system
that aims to achieve certain sensing goals while meeting and maintaining
certain communication performance requirements, through cooperative control,
learning and adaptation. While both of the component areas, i.e., Robotics and
WSN, are very well-known and well-explored, there exist a whole set of new
opportunities and research directions at the intersection of these two fields
which are relatively or even completely unexplored. One such example would be
the use of a set of robotic routers to set up a temporary communication path
between a sender and a receiver that uses the controlled mobility to the
advantage of packet routing. We find that there exist only a limited number of
articles to be directly categorized as RWSN related works whereas there exist a
range of articles in the robotics and the WSN literature that are also relevant
to this new field of research. To connect the dots, we first identify the core
problems and research trends related to RWSN such as connectivity,
localization, routing, and robust flow of information. Next, we classify the
existing research on RWSN as well as the relevant state-of-the-arts from
robotics and WSN community according to the problems and trends identified in
the first step. Lastly, we analyze what is missing in the existing literature,
and identify topics that require more research attention in the future
Estimação de verticalidade e estabilização de uma cabeça humanóide
Mestrado em Engenharia MecânicaO Projeto Humanóide da Universidade de Aveiro (PHUA) é a base desta
dissertação que tem como objetivo estudar a estabilização da cabeça de
um robô humanóide para efeitos de equilíbrio. Foram assim desenvolvidas
soluções integradas usando o Robot Operating System (ROS). Para estabilizar
a cabeça humanóide, foi estimado o vetor da gravidade (verticalidade)
usando dados visuais. Para o fazer, duas soluções distintas foram abordadas,
ambas baseadas na biblioteca Visual Servoing Platform (ViSP). Depois de
estimada a verticalidade, a cabeça humanóide (uma câmara montada numa
unidade roll-tilt) foi estabilizada recorrendo a um controlador proporcionalderivativo
(PD) de posição para o servomotor responsável pelo ângulo roll e
a um controlo PD de velocidade para o servomotor responsável pelo ângulo
tilt. Para fazer as experiências, o sistema foi montado num manipulador
robótico para permitir repetibilidade e controlo preciso de movimentos. A
análise dos resultados das experiências mostra que quer a estimação da
verticalidade quer a estabilização da cabeça humanóide foram tarefas realizadas
com sucesso. Esta análise permite também concluir que a taxa
de aquisição de imagem influencia os resultados, e que a limitada taxa do
sistema usado (cerca de 15 imagens por segundo) condicionou um pouco a
robustez dos resultados em situações mais exigentes.The Humanoid Project of the University of Aveiro (PHUA) is the basis of
this dissertation, whose purpose is to study the effects of the stabilization
of a humanoid head in obtaining its equilibrium. Therefore, integrated
solutions using the Robot Operating System (ROS) were developed. To
stabilize the humanoid head, the gravity vector (verticality) was estimated
using visual data. In order to do so, two distinct solutions were approached,
both based on the Visual Servoing Platform (ViSP) library. After estimating
verticality, the humanoid head (a camera mounted on a roll-tilt unit) was
stabilized using a proportional-derivative (PD) controller for the position of
the servo responsible for the roll angle and a PD controller for the velocity of
the servomotor responsible for the tilt angle. To perform the experiments,
the system was mounted on a robotic manipulator to allow repeatability and
precise movement control. An analysis to the experiment results shows that
both the verticality estimation and head stabilization tasks were performed
successfully. This analysis also allows for the conclusion that the image
frame rate influences results, and that the limited frame rate of the system
used (about 15 frames per second) slightly conditioned the robustness of
results in more demanding scenarios
Formation control of nonholonomic mobile robots using implicit polynomials and elliptic Fourier descriptors
Abstract This paper presents a novel method for the formation control of a group of nonholonomic mobile robots using implicit and parametric descriptions of the desired formation shape. The formation control strategy employs implicit polynomial (IP) representations to generate potential fields for achieving the desired formation and the elliptical Fourier descriptors (EFD) to maintain the formation once achieved. Coordination of the robots is modeled by linear springs between each robot and its two nearest neighbors. Advantages of this new method are increased flexibility in the formatio
Aerial Tele-Manipulation with Passive Tool via Parallel Position/Force Control
This paper addresses the problem of unilateral contact interaction by an under-actuated quadrotor UAV equipped with a passive tool in a bilateral teleoperation scheme. To solve the challenging control problem of force regulation in contact interaction while maintaining flight stability and keeping the contact, we use a parallel position/force control method, commensurate to the system dynamics and constraints in which using the compliant structure of the end-effector the rotational degrees of freedom are also utilized to attain a broader range of feasible forces. In a bilateral teleoperation framework, the proposed control method regulates the aerial manipulator position in free flight and the applied force in contact interaction. On the master side, the human operator is provided with force haptic feedback to enhance his/her situational awareness. The validity of the theory and efficacy of the solution are shown by experimental results. This control architecture, integrated with a suitable perception/localization pipeline, could be used to perform outdoor aerial teleoperation tasks in hazardous and/or remote sites of interest
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