Sensors and Actuators Communication and Synchronization for a Mobile Manipulator

Modern mobile manipulator hardware architecture is combination of mechanical, electrical, software and control units. Integrating numbers of mechanical and electrical components in the system rise the number of parameters to control. Hence the issues of controlling such systems to achieve the best performance is critical. A key aspect for this purpose is integration of sensors and actuators to provide a low level of mobile manipulator control and my thesis involve in providing a low level of control for iMoro mobile manipulator. To operate such a mobile manipulator several intelligent components needs to be installed and cooperate at same time. Due to the application that iMoro made for, the platform is equipped with 8 actuators and number of sensors. Therefore control of such a system is complicated and demands accurate synchronization and communication among four legs. Since iMoro robot is equipped with IMU, in following chapter IMU is calibrated and the process of providing meaningful data out of raw data explained by modeling the IMU. In addition, an equation is developed for robust calibration of IMU and camera

Early stage design of a spherical underwater robotic vehicle

This paper presents a high performance autonomous underwater robot under development for inspection of flooded mines up to 500 meters depth. Underwater robots have multiple advanced subsystems and mechanisms. Initial structure design of subsystems and their functions are demonstrated here briefly. In addition, Hydrodynamic coefficients that contribute to robot equation of motion are addressed. The advantage of utilizing spherical design is verified by applying simplification to determine the main coefficient of motion theoretically.acceptedVersionPeer reviewe

Modeling and Preliminary Design of Underwater Robot for Inspection

By advancing robotic perception technology, the development of Autonomous Underwater Vehicles caught attention in certain application such as oceanology and surveying. This paper proposes an innovative approach for the design of a highly maneuverable underwater robot with 4 degrees of freedom. The mission of the aforementioned AUV is to inspect the inaccessible flooded mines and collect geological data during 5 hours of operation. Following, the configuration and mechanical design of the thrusters and pendulum mechanism are outlined. Further, low-level control architecture for real-time operating of eight thrusters is presented. Besides, dynamic modelling of the system, hydrodynamic terms and transformation matrix based on Euler angle are identified

Functional Hierarchy in Autonomous Robot

The process of design and manufacturing of the UX-1 concern with considering a variety of design requirements for the purpose of creating an autonomous explorer robot. However, due to restricted and harsh operating environment, the non-functional requirement such as space and weight highly determine overall design and operation of the system, and therefore the process of developing and building the robot comes with several trials and challenges. Hence the implemented FEM analysis demonstrates the optimize solution by considering the non-functional requirement which in turn directly effect on the design and properties of the robot.publishedVersionNon peer reviewe

Mechatronic Architecture Development of UX-1

This paper presents novel design of underwater robot for exploring abandoned mines. The hazardous environment of such mines due to unknown hydrodynamic forces and faulty navigations, brings the need of developing a reliable system able to be controlled autonomously. This capability highly rely on the basis of low level control and mechatronic architecture of the robot which demonstrate robot potential for performing real-time operations. Following, describes rapid prototyping during development phase of the robot. Further, it investigates on mechatronic development of main controller unit, propulsion system and ballast.acceptedVersionPeer reviewe

Mechanical subsystems integration and structural analysis for the autonomous underwater explorer

The aim of this study is to analyse the modular mechanical design and integration of all three low-level modules in UX-1 (pendulum, ballast system and propulsion unit). The components of the perception and navigation systems have position and orientation requirements that dictate the shape of the hull. A structural strength analysis using Finite Element Method (FEM) was made to study the hull strength during deep dives. The results are presented here, which indicates that the hull endures pressures related to deep dives. Also for validation, strain gauge locations were defined.acceptedVersionPeer reviewe