259 research outputs found

    Dynamic virtual reality user interface for teleoperation of heterogeneous robot teams

    Full text link
    This research investigates the possibility to improve current teleoperation control for heterogeneous robot teams using modern Human-Computer Interaction (HCI) techniques such as Virtual Reality. It proposes a dynamic teleoperation Virtual Reality User Interface (VRUI) framework to improve the current approach to teleoperating heterogeneous robot teams

    Proceedings of the 2017 Coal Operators\u27 Conference

    Get PDF
    Proceedings of the 2017 Coal Operators\u27 Conference. All papers in these proceedings are peer reviewed. ISBN: 978174128261

    Advanced Mobile Robotics: Volume 3

    Get PDF
    Mobile robotics is a challenging field with great potential. It covers disciplines including electrical engineering, mechanical engineering, computer science, cognitive science, and social science. It is essential to the design of automated robots, in combination with artificial intelligence, vision, and sensor technologies. Mobile robots are widely used for surveillance, guidance, transportation and entertainment tasks, as well as medical applications. This Special Issue intends to concentrate on recent developments concerning mobile robots and the research surrounding them to enhance studies on the fundamental problems observed in the robots. Various multidisciplinary approaches and integrative contributions including navigation, learning and adaptation, networked system, biologically inspired robots and cognitive methods are welcome contributions to this Special Issue, both from a research and an application perspective

    NIOSH Mining Program: Evidence Package for 2008-2018

    Get PDF
    This document contains materials to demonstrate the relevance and impact of the Mining Program\u2019s work in the areas of disaster preparedness and response, ground control, and respirable hazards

    Mobile Robot Manipulator System Design for Localization and Mapping in Cluttered Environments

    Get PDF
    In this thesis, a compact mobile robot has been developed to build real-time 3D maps of hazards and cluttered environments inside damaged buildings for rescue tasks using visual Simultaneous Localization And Mapping (SLAM) algorithms. In order to maximize the survey area in such environments, this mobile robot is designed with four omni-wheels and equipped with a 6 Degree of Freedom (DOF) robotic arm carrying a stereo camera mounted on its end-effector. The aim of using this mobile articulated robotic system is monitor different types of regions within the area of interest, ranging from wide open spaces to smaller and irregular regions behind narrow gaps. In the first part of the thesis, the robot system design is presented in detail, including the kinematic systems of the omni-wheeled mobile platform and the 6-DOF robotic arm, estimation of the biases in parameters of these kinematic systems, the sensors and calibration of their parameters. These parameters are important for the sensor fusion utilized in the next part of the thesis, where two operation modes are proposed to retain the camera pose when the visual SLAM algorithms fail due to variety of the region types. In the second part, an integrated sensor data fusion, odometry and SLAM scheme is developed, where the camera poses are estimated using forward kinematic equations of the robotic arm and fused to the visual SLAM and odometry algorithms. A modified wavefront algorithm with reduced computational complexity is used to find the shortest path to reach the identified goal points. Finally, a dynamic control scheme is developed for path tracking and motion control of the mobile platform and the robot arm, with sub-systems in the form of PD controllers and extended Kalman filters. The overall system design is physically implemented on a prototype integrated mobile robot platform and successfully tested in real-time

    Automated multi-rotor draft survey of large vessels

    Get PDF
    In maritime sector draft survey has a significant importance as it is used to determine many important factors used in maritime transportation. Draft is the vertical displacement from the bottom of the keel (the bottom-most element of a vessel) to the water line (the line of meeting point of hull and the water surface). It is used to measure the minimum water depth for safe navigation of vessel and to evaluate mass of cargo in the vessel by the change in displacement on the draft scale after loading of the cargo in the vessel. Draft measurement of a vessel has a vital role in maritime sector to ensure a safe equilibrium between maximum and minimum cargo that can be loaded in the vessel. Draft survey performed at the time of loading and unloading of cargo (Iron Ore) at the Narvik port to read out draft markings traditionally involved a round trip around the vessel in a small crew boat and it is a time consuming and challenging task specially in darkness (during night), shadows and when difficult to safely reach the crew boat close enough due to anchors and buoys. The goal of this study is to develop an autonomous multi-rotor system that can survey the large vessel to capture all the necessary draft measurements by reaching close enough even in challenging environments like nighttime and in presence of obstacles. This involves developing the solution for path planning to perform flight operation autonomously, developing guidance and control algorithm for the flight operation to enable the multi-rotor to follow the designated path and perform the inspection while avoiding all the hurdles using collision avoidance system. Along with developing the specifications for a multi-rotor that can perform the inspection and suggest necessary system components including multi-rotor itself and additional components such as sensors, lights and camera, and necessities for on-board data handling

    Subsurface robotic exploration for geomorphology, astrobiology and mining during MINAR6 campaign, Boulby Mine, UK : part I (Rover development)

    Get PDF
    Acknowledgement. The authors of this paper would like to thank Kempe Foundation for its generous funding support to develop KORE, the workshop at the Teknikens Hus, Luleå, for their invaluable and unconditional support in helping with the fabrication of the Rover components and the organizers of the MINAR campaign comprising the UK Centre of Astrobiology, Dark Matter Research Facility and the Israel Chemicals Limited (ICL), UK.Peer reviewedPublisher PD

    Aerospace Medicine and Biology: A continuing bibliography with indexes

    Get PDF
    This bibliography lists 253 reports, articles, and other documents introduced into the NASA scientific and technical information system in October 1975

    Proceedings of the NASA Conference on Space Telerobotics, volume 1

    Get PDF
    The theme of the Conference was man-machine collaboration in space. Topics addressed include: redundant manipulators; man-machine systems; telerobot architecture; remote sensing and planning; navigation; neural networks; fundamental AI research; and reasoning under uncertainty
    corecore