Development of PAN (personal area network) for Mobile Robot Using Bluetooth Transceiver

In recent years, wireless applications using radio frequency (RF) have been rapidly evolving in personal computing and communications devices. Bluetooth technology was created to replace the cables used on mobile devices. Bluetooth is an open specification and encompasses a simple low-cost, low power solution for integration into devices. This research work aim was to provide a PAN (personal area network) for computer based mobile robot that supports real-time control of four mobile robots from a host mobile robot. With ad hoc topology, mobile robots may request and establish a connection when it is within the range or terminated the connection when it leaves the area. A system that contains both hardware and software is designed to enable the robots to participate in multi-agent robotics system (MARS). Computer based mobile robot provide operating system that enabled development of wireless connection via IP address

Debinding process of ss316L metal injection moulding under argon atmosphere

Solvent and thermal debinding acted as binder in removing Restaurant Waste Lipid (RWL) and Polypropylene (PP) from the stainless steel 316L. This investigation was carried out to determine the effect of thermal debinding variables on density, shrinkage and surface morphology of the brown parts other than to remove the binder from the SS316L under the Argon atmosphere with flow rate of 5 ml/min. The parameter used for solvent debinding process was solvent temperature at 60°C for six hours, while thermal debinding process was conducted at various temperature of 400°C, 500°C and 600°C, heating rate of 10 °C/min, 20 °C/min and 30 °C/min, dwell time of 30 min, 60 min and 90 min, and cooling rate of 5 °C/min, 10 °C/min and 15 °C/min. Analysis of weight loss percentage was done on the brown part after the solvent debinding and thermal debinding processes. Scanning Electron Microscope (SEM) was used to confirm the removal of RWL and PP from the compacts based on the porosity form, and attachment of PP in the powder particles. This investigation showed that debinding parameters were important in terms of their effects on the physical properties. Based on the observation through SEM and consideration of the factors that affected the physical properties of the parts, it was found that RWL was completely extracted out at 60°C for six hours, while the thermal temperature of 500°C with heating rate of 10 °C/min, dwell time of 60 min and cooling rate of 15 °C/min were the optimal thermal debinding parameters in PP removal

Knowledge base tuning using genetic algorithm for fuzzy behavior-based autonomous mobile robot

The attractive research in the field of robotics as a main alternative to conventional robot in recent years is Behavior-based mobile robot. This control architecture should generate perfect behavior action and able to handle conflicting actions that are seemingly irreconcilable, those are known as Behaviour Design Problem and Action Selection Problem. This paper presents a new schema to overcome behavior-based problems based on Fuzzy Logic Controller (FLC) where the fuzzy knowledge bases are tuned automatically by Genetic Algorithm (GAs), known as Genetic Fuzzy System (GFS). The behaviors are controlled by GFS to generate individual command action. Later, a Context- Dependent Blending (DBD) based on meta fuzzy rules coordinates the commands to produce final control action. The scheme is validated using parameters of MagellanPro mobile robot and tested by simulation using MATLAB/ SIMULINK. Simulation results show that the proposed model offers hopeful advantages and has improved performance

Analytical and empirical study of particle swarm optimization with a sigmoid decreasing inertia weight

The particle swarm optimization (PSO) is an algorithm for finding optimal regions of complex search space through interaction of individuals in a population of particles. Search is conducted by moving particles in the space. Some methods area attempted to improve performance of PSO since is founded, including linearly decreasing inertia weight. The present paper proposes a new variation of PSO model where inertia weight is sigmoid decreasing, called as Sigmoid Decreasing Inertia Weight. Performances of the PSO with a SDIW are studied analytically and empirically. The exploration–exploitation tradeoff is discussed and illustrated, as well. Four different benchmark functions with asymmetric initial range settings are selected as testing functions. The experimental results illustrate the advantage of SDIW that may improve PSO performance significantly

Performance of two neuro controllers for robot path planning control

In this paper, two neuro-controllers utilizing the backpropagation algorithm are investigated for robot path tracking performance: inverse neuro-controller and neuro-emulator neuro-controller schemes. For a given task of moving a robot from a rest position to a final specified position in a minimum-time, the resulting position and velocity profiles for the investigated neuro-control models showed that, the manipulator could be moved smoothly and accurately. The tracking performance and accuracy are investigated and compare

Biomimetic design and development of a hexapedal running robot with automatic gaiting selection based on terrain

Animals inspire our intuition that legs may be necessary for satisfactory exploration of highly broken and unstable landscapes. Gaiting style is the next crucial element in determining mobility of the legged robot as special gaits improve the mobility of the robot drastically and permit the robot to climb over small obstacles or cross broken terrain more efficiently. The aim for this research is to design and develop an automatic gaiting selection system which decides the gaits of the robot according to the environments using embedded vision system. The proposed method has been tested on the Hexapedal Running Robot and result is discussed in this paper

An interactive environment for a mobile robot using skin detection

This paper presents an interactive computer environment to be implemented on a mobile robot for human-robot interface (HRI) by incorporating skin detection technique. Human face detection yielded by visual sensor is the core towards an interaction between human and robots. Hence, efficient skin detection can serve as the basis towards producing fast face feature extraction for robotics application. The proposed skin detection method is based on color space analysis. The goal is to demonstrate that a common pattern exists among human skin color. In order to support the human-robot interaction application, a hardware and software structure is proposed for the HRI

Development of reactive control strategy for multi-agent mobile robotics system

Multi-agent system is one the most popular research interests in robotics nowadays. Imagine for a swarm of robots, what kind of intelligence can we build now? This question arises from emulating biological systems. How is it that colonies of small ants can work together to perform a difficult task that single ant cannot do it alone? How might collections of simple robots aid us in human endeavours? By examining these questions, one of the common characteristics shared by each agent is in agent simplicity. Simplicity in control means that the robots are provided with direct commands in order to execute the action. It doesn't need to gather all information from various sensors to plan its action like deliberative control which is also known as sensors fusion that clearly required a lot of computational time and also the mapping that its produces might not valid at the time when changes occurs between the time it gathers the information and the time it plans its actions. Instead, intelligence will arise when these simple agents work together to perform some complex task cooperatively. By examining the major control architectures available in robotics area, subsumption-based reactive control architecture gives the tools as required. Priority-based scheme is used in arbitration level to select which behaviour to run. In this paper decentralised reactive control architecture was used to justify the communication based simple control architecture can perform complex task like carrying load and navigate

Fuzzy logic based behaviors blending for intelligent reactive navigation of walking robot

The reaction of an autonomous mobile robot to dynamic, uncertain, and changeable environments is one of most difficult issues in control of intelligent autonomous robot movement. Fuzzy control appears as a very useful tool for handling intelligent reactive navigation. The present work deals with building of fuzzy behavior based reactive navigation for obstacle avoidance, and proposes a method to blend and coordinate multi-behaviors at the same time. This method using a fuzzy technique and fixed priority value to reflect the importance of the behavior. We have built our simulation and animation programs that can reflect online the robot movement using a graphical user interfac

Trajectory tracking of steering system mobile robot

In this paper, the kinematic model of nonholonomic differential wheeled mobile robot steering system is established. Based on the model, a nonlinear feedback path tracking controller is proposed, which causes the closed loop system state equation for the robot to have equilibrium condition at the origin. Lyapunov candidate function is used to prove that the closed loop system is asymptotically stable at origin. Simulation results verify the usefulness of the tracking control approach