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1
Chen, Sicheng. "A single-chip real-Time range finder." Diss., Texas A&M University, 2004. http://hdl.handle.net/1969.1/553.
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Range finding are widely used in various industrial applications, such as machine vision, collision avoidance, and robotics. Presently most range finders either rely on active transmitters or sophisticated mechanical controllers and powerful processors to extract range information, which make the range finders costly, bulky, or slowly, and limit their applications. This dissertation is a detailed description of a real-time vision-based range sensing technique and its single-chip CMOS implementation. To the best of our knowledge, this system is the first single chip vision-based range finder that doesn't need any mechanical position adjustment, memory or digital processor. The entire signal processing on the chip is purely analog and occurs in parallel. The chip captures the image of an object and extracts the depth and range information from just a single picture. The on-chip, continuous-time, logarithmic photoreceptor circuits are used to couple spatial image signals into the range-extracting processing network. The photoreceptor pixels can adjust their operating regions, simultaneously achieving high sensitivity and wide dynamic range. The image sharpness processor and Winner-Take-All circuits are characterized and analyzed carefully for their temporal bandwidth and detection performance. The mathematical and optical models of the system are built and carefully verified. A prototype based on this technique has been fabricated and tested. The experimental results prove that the range finder can achieve acceptable range sensing precision with low cost and excellent speed performance in short-to-medium range coverage. Therefore, it is particularly useful for collision avoidance.
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Hui, Corinna. "Laser Range Finder Mapping of Floating Vehicle." Thesis, Massachusetts Institute of Technology, 2009. http://hdl.handle.net/1721.1/54476.
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Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2009.Cataloged from PDF version of thesis.
Includes bibliographical references (p. 48).
Using laser range finders as a method of navigation is popular with mobile land robots; however, there has been little research using it with water vehicles. Therefore, this thesis explores the usage and data flow of a laser range finder on a water raft. A unique algorithm for localization and mapping for the sensor is developed and tested both in simulation and in realtime with a vehicle. Both the localization of the vehicle and mapping of its environment are able to achieve precise locations, deviating only a few millimeters of their expected values. With this algorithm, a closed-loop control system is also developed and implemented on the vehicle. The vehicle is able to move to a predefined location and be within a very small range of acceptable values. The control loop is further explored with damping, gain variations, and different trajectories..
by Corinna Hui.
S.B.
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Almeida, Jorge Manuel Soares de. "Target tracking using laser range finder with occlusion." Master's thesis, Universidade de Aveiro, 2010. http://hdl.handle.net/10773/2533.
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Mestrado em Engenharia MecânicaEste trabalho apresenta uma técnica para a detecção e seguimento de múltiplos alvos móveis usando um sensor de distâncias laser em situações de forte oclusão. O processo inicia-se com a aplicação de filtros temporais aos dados em bruto de modo a eliminar o ruído do sensor seguindo-se de uma segmentação em várias fases com o objectivo de contornar o problema da oclusão. Os segmentos obtidos representam objectos presentes no ambiente. Para cada segmento um ponto representativo da sua posição no mundo é calculado, este ponto é definido de modo a ser relativamente invariante à rotação e mudança de forma do objecto. Para fazer o seguimento de alvos uma lista de objectos a seguir é mantida, todos os objectos visíveis são associados a objectos desta lista usando técnicas de procura baseadas na previsão do movimento dos objectos. Uma zona de procura de forma elíptica é definida para cada objecto da lista sendo nesta zona que se dará a associação. A previsão do movimento é feita com base em dois modelos de movimento, um de velocidade constante e um de aceleração constante e com aplicação de filtros de Kalman. O algoritmo foi testado em diversas condições reais e mostrou-se robusto e eficaz no seguimento de pessoas mesmo em situações de extensa oclusão. ABSTRACT: In this work a technique for the detection and tracking of multiple moving targets in situations of strong occlusion using a laser rangefinder is presented. The process starts by the application of temporal filters to the raw data in order to remove noise followed by a multi phase segmentation with the goal of overcoming occlusions. The resulting segments represent objects in the environment. For each segment a representative point is defined; this point is calculated to better represent the object while keeping some invariance to rotation and shape changes. In order to perform the tracking, a list of objects to follow is maintained; all visible objects are associated with objects from this list using search techniques based on the predicted motion of objects. A search zone shaped as an ellipse is defined for each object; it is in this zone that the association is preformed. The motion prediction is based in two motion models, one with constant velocity and the other with constant acceleration and in the application of Kalman filters. The algorithm was tested in diverse real conditions and shown to be robust and effective in the tracking of people even in situations of long occlusions.
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Einsele, Tobias. "Localization in indoor environments using a panoramic laser range finder." [S.l. : s.n.], 2002. http://deposit.ddb.de/cgi-bin/dokserv?idn=963995553.
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Ісенко, А. В. "Електронно-оптичний далекомір." Thesis, Сумський державний університет, 2018. http://essuir.sumdu.edu.ua/handle/123456789/67061.
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У воєнній справі дуже необхідним є пристрій, який має назву
далекомір. За допомогою цього пристрою можна установити приціл.
Існують різноманітні системи цих пристроїв.
Самим сучасним вважають лазерний далекомір. Але він має
обмеження в застосуванні. Під час дощу, снігу, туману зручніше
користуватися традиційним оптичним далекоміром, за допомогою
якого, відстань визначається з використанням тригонометричних
функцій.
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Vega-Brown, Will (William Robert). "The design and implementation of a laser range-finder array for robotics applications." Thesis, Massachusetts Institute of Technology, 2011. http://hdl.handle.net/1721.1/68862.
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Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2011.Cataloged from PDF version of thesis.
We introduce the concept of using a laser range finder array to measure height and tilt for mobile robotics applications. We then present a robust, scalable algorithm for extracting height and tilt measurements from the range finder data. We calibrate the sensors using a precision two-axis system, and evaluate the capabilities of the sensors. Finally, we utilize the sensors and the two-axis system for imaging to illustrate their accuracy.
by Will Vega-Brown.
S.B.
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Ferreira, Eduardo Rodolfo Teixeira. "Goal detection using laser range finder for goalkeeper and striker from CAMBADA team." Master's thesis, Universidade de Aveiro, 2015. http://hdl.handle.net/10773/15939.
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Mestrado em Engenharia Eletrónica e TelecomunicaçõesFor a robot be autonomous and mobile, it requires being attached with a set of sensors that helps it to have a better perception of the surrounding world, to manage to localize itself and the surrounding objects. CAMBADA is the robotic soccer team of the IRIS research group, from IEETA, University of Aveiro, that competes in the Middle-Size League of RoboCup. In competition, in order to win, the main objective of the game it's to score more goals than the conceded, so not conceding goals, and score as much as possible it's desirable, thus, this thesis focus on adapt an agent with a better localization capacity in defensive and offensive moments. It was introduced a laser range finder to the CAMBADA robots, making them capable of detecting their own and the opponent goal, and to detect the opponents in specific game situations. With the new information and adapting the Goalie and Penalty behaviors, the CAMBADA goalkeeper is now able to detect and track its own goal and the CAMBADA striker has a better performance in a penalty situation. The developed work was incorporated within the competition software of the robots, which allows the presentation, in this thesis, of the experimental results obtained with physical robots on the laboratory field.
Para que um robô seja autónomo e móvel, necessita estar equipado com vários sensores que o ajudem a ter uma percepção do mundo que o rodeia, de forma a obter a sua própria localização e a detecção de objectos. CAMBADA é a equipa de futebol robótico do grupo de investigação IRIS, da unidade de investigação IEETA, da Universidade de Aveiro que participa na Liga de Robôs Médios da RoboCup. Em competição, para ganhar, o principal objetivo de uma equipa durante um jogo é não sofrer golos e marcar o maior número possível, desta forma, esta tese foca-se em dotar um agente de uma melhor capacidade de localização em situações defensivas e ofensivas de jogo. Foi introduzido um laser range finder aos robôs da equipa CAMBADA, tornando-os aptos a detetar a sua própria baliza e a do adversário, e a detetar oponentes em situações especificas do jogo. Com a nova informação adquirida e adaptando os behaviors Goalie e Penalty, agora o guarda-redes da equipa CAMBADA está apto a detetar e rastrear a sua própria baliza e o avançado da equipa CAMBADA tem uma melhor performance em situações de penalty. O trabalho desenvolvido foi incorporado no software de competição dos robôs, o que permite nesta tese apresentar resultados experimentais de testes efectuados nos robôs em laboratório.
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Yang, Christopher S. "Design and calibration of a multi-modal range sensor using passive stereo, structured lighting, and active triangulation laser range finder." Thesis, University of Ottawa (Canada), 2006. http://hdl.handle.net/10393/27201.
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Collecting dense range measurements in uncontrolled environments is a challenging problem as lighting and surface textures significantly influence the quality of the measurements. This dependency affects the registration and data fusion processes and consequently degrades the accuracy of surface or occupancy models that are computed from the range measurements.
Typical approaches to address this issue have concentrated on improving a specific type of range sensor. On the other hand, the overall quality of the sensing can also be enhanced through the development of a mechanism that combines various range sensing technologies to form a multi-modal range sensor. The resulting problem of merging datasets collected with the respective modalities can then be solved in two ways: system calibration of the multi-modal sensor or data fitting of all datasets into a single model, the latter being more widely used. The lack of multi-modal system calibration approaches is due to their complicated and lengthy nature, where individual calibration approaches must be applied to each subsystem and then applied between subsystems of the multi-modal range sensor.
This thesis proposes a technique to alleviate the problems encountered in multi-modal systems calibration. Straightforward and generic guidelines for calibration are defined and applied to an in-house integrated multi-modal system built from a laser range finder, two structured lighting systems, and a stereovision system. The system's intra- and inter-calibration processes are detailed. Reconstructed renderings of datasets collected with the calibrated multi-modal range sensor, without the use of data fitting, are also presented. From these results, the potential benefits of multi-modal calibration that reduces the need for data fitting and the advantages of merging subsystem's strengths to complement other subsystem's weaknesses are put into evidence.
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Kilpelä, A. (Ari). "Pulsed time-of-flight laser range finder techniques for fast, high precision measurement applications." Doctoral thesis, University of Oulu, 2004. http://urn.fi/urn:isbn:9514272625.
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Abstract
This thesis describes the development of high bandwidth (~1 GHz) TOF (time-of-flight) laser range finder techniques for industrial measurement applications in the measurement range of zero to a few dozen metres to diffusely reflecting targets. The main goal has been to improve single-shot precision to mm-level in order to shorten the measurement result acquisition time.
A TOF laser range finder consists of a laser transmitter, one or two receivers and timing discriminators, and a time measuring unit. In order to improve single-shot precision the slew-rate of the measurement pulse should be increased, so the optical pulse of the laser transmitter should be narrower and more powerful and the bandwidth of the receiver should be higher without increasing the noise level too much.
In the transmitter usually avalanche transistors are used for generating the short (3–10 ns) and powerful (20–100 A) current pulses for the semiconductor laser. Several avalanche transistor types were compared and the optimization of the switching circuit was studied. It was shown that as high as 130 A current pulses are achievable using commercially available surface mount avalanche transistors.
The timing discriminator was noticed to give the minimum walk error, when high slew rate measurement pulses and a high bandwidth comparator were used. A walk error of less than +/- 1 mm in an input amplitude dynamic range higher than 1:10 can be achieved with a high bandwidth receiver channel. Adding an external offset voltage between the input nodes of the comparator additionally minimized the walk error.
A prototype ~1 GHz laser range finder constructed in the thesis consists of a laser pulser and two integrated ASIC receiver channels with silicon APDs (avalanche photodiodes), crossover timing discriminators and Gilbert cell attenuators. The laser pulser utilizes an internal Q-switching mode of a commercially available SH-laser and produces optical pulses with a pulse peak power and FWHM (full-width-at-half-maximum) of 44 W and 74 ps, respectively. Using single-axis optics and 1 m long multimode fibres between the optics and receivers a total accuracy of +/-2 mm in the measurement range of 0.5–34.5 m was measured. The single-shot precision (σ-value) was 14 ps–34 ps (2–5 mm) in the measurement range. The single-shot precision agrees well with the simulations and is better with a factor of about 3-5 as compared to earlier published pulsed TOF laser radars in comparable measuring conditions.
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HERRERA, LUIS ERNESTO YNOQUIO. "MOBILE ROBOT SIMULTANEOUS LOCALIZATION AND MAPPING USING DP-SLAM WITH A SINGLE LASER RANGE FINDER." PONTIFÍCIA UNIVERSIDADE CATÓLICA DO RIO DE JANEIRO, 2011. http://www.maxwell.vrac.puc-rio.br/Busca_etds.php?strSecao=resultado&nrSeq=34617@1.
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PONTIFÍCIA UNIVERSIDADE CATÓLICA DO RIO DE JANEIROCONSELHO NACIONAL DE DESENVOLVIMENTO CIENTÍFICO E TECNOLÓGICO
SLAM (Mapeamento e Localização Simultânea) é uma das áreas mais pesquisadas na Robótica móvel. Trata-se do problema, num robô móvel, de construir um mapa sem conhecimento prévio do ambiente e ao mesmo tempo manter a sua localização nele. Embora a tecnologia ofereça sensores cada vez mais precisos, pequenos erros na medição são acumulados comprometendo a precisão na localização, sendo estes evidentes quando o robô retorna a uma posição inicial depois de percorrer um longo caminho. Assim, para melhoria do desempenho do SLAM é necessário representar a sua formulação usando teoria das probabilidades. O SLAM com Filtro Extendido de Kalman (EKF-SLAM) é uma solução básica, e apesar de suas limitações é a técnica mais popular. O Fast SLAM, por outro lado, resolve algumas limitações do EKF-SLAM usando uma instância do filtro de partículas conhecida como Rao-Blackwellized. Outra solução bem sucedida é o DP-SLAM, o qual usa uma representação do mapa em forma de grade de ocupação, com um algoritmo hierárquico que constrói mapas 2D bastante precisos. Todos estes algoritmos usam informação de dois tipos de sensores: odômetros e sensores de distância. O Laser Range Finder (LRF) é um medidor laser de distância por varredura, e pela sua precisão é bastante usado na correção do erro em odômetros. Este trabalho apresenta uma detalhada implementação destas três soluções para o SLAM, focalizado em ambientes fechados e estruturados. Apresenta-se a construção de mapas 2D e 3D em terrenos planos tais como em aplicações típicas de ambientes fechados. A representação dos mapas 2D é feita na forma de grade de ocupação. Por outro lado, a representação dos mapas 3D é feita na forma de nuvem de pontos ao invés de grade, para reduzir o custo computacional. É considerado um robô móvel equipado com apenas um LRF, sem nenhuma informação de odometria. O alinhamento entre varreduras laser é otimizado fazendo o uso de Algoritmos Genéticos. Assim, podem-se construir mapas e ao mesmo tempo localizar o robô sem necessidade de odômetros ou outros sensores. Um simulador em Matlab é implementado para a geração de varreduras virtuais de um LRF em um ambiente 3D (virtual). A metodologia proposta é validada com os dados simulados, assim como com dados experimentais obtidos da literatura, demonstrando a possibilidade de construção de mapas 3D com apenas um sensor LRF.
Simultaneous Localization and Mapping (SLAM) is one of the most widely researched areas of Robotics. It addresses the mobile robot problem of generating a map without prior knowledge of the environment, while keeping track of its position. Although technology offers increasingly accurate position sensors, even small measurement errors can accumulate and compromise the localization accuracy. This becomes evident when programming a robot to return to its original position after traveling a long distance, based only on its sensor readings. Thus, to improve SLAM s performance it is necessary to represent its formulation using probability theory. The Extended Kalman Filter SLAM (EKF-SLAM) is a basic solution and, despite its shortcomings, it is by far the most popular technique. Fast SLAM, on the other hand, solves some limitations of the EKFSLAM using an instance of the Rao-Blackwellized particle filter. Another successful solution is to use the DP-SLAM approach, which uses a grid representation and a hierarchical algorithm to build accurate 2D maps. All SLAM solutions require two types of sensor information: odometry and range measurement. Laser Range Finders (LRF) are popular range measurement sensors and, because of their accuracy, are well suited for odometry error correction. Furthermore, the odometer may even be eliminated from the system if multiple consecutive LRF scans are matched. This works presents a detailed implementation of these three SLAM solutions, focused on structured indoor environments. The implementation is able to map 2D environments, as well as 3D environments with planar terrain, such as in a typical indoor application. The 2D application is able to automatically generate a stochastic grid map. On the other hand, the 3D problem uses a point cloud representation of the map, instead of a 3D grid, to reduce the SLAM computational effort. The considered mobile robot only uses a single LRF, without any odometry information. A Genetic Algorithm is presented to optimize the matching of LRF scans taken at different instants. Such matching is able not only to map the environment but also localize the robot, without the need for odometers or other sensors. A simulation program is implemented in Matlab to generate virtual LRF readings of a mobile robot in a 3D environment. Both simulated readings and experimental data from the literature are independently used to validate the proposed methodology, automatically generating 3D maps using just a single LRF.
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CANCHUMUNI, SMITH WASHINGTON ARAUCO. "PROBABILISTIC SIMULTANEOUS LOCALIZATION AND MAPPING OF MOBILE ROBOTS IN INDOOR ENVIRONMENTS WITH A LASER RANGE FINDER." PONTIFÍCIA UNIVERSIDADE CATÓLICA DO RIO DE JANEIRO, 2013. http://www.maxwell.vrac.puc-rio.br/Busca_etds.php?strSecao=resultado&nrSeq=23357@1.
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PONTIFÍCIA UNIVERSIDADE CATÓLICA DO RIO DE JANEIROCOORDENAÇÃO DE APERFEIÇOAMENTO DO PESSOAL DE ENSINO SUPERIOR
PROGRAMA DE EXCELENCIA ACADEMICA
Os Robôs Móveis são cada vez mais inteligentes, para que eles tenham a capacidade de semover livremente no interior deumambiente, evitando obstáculos e sem assistência de um ser humano, precisam possuir um conhecimento prévio do ambiente e de sua localização. Nessa situação, o robô precisa construir um mapa local de seu ambiente durante a execução de sua missão e, simultaneamente, determinar sua localização. Este problema é conhecido como Mapeamento e Localização Simultâneas (SLAM). As soluções típicas para o problema de SLAM utilizam principalmente dois tipos de sensores: (i) odômetros, que fornecem informações de movimento do robô móvel e (ii) sensores de distância, que proporcionam informação da percepção do ambiente. Neste trabalho, apresenta-se uma solução probabilistica para o problema SLAM usando o algoritmo DP-SLAM puramente baseado em medidas de um LRF (Laser Range Finder), com foco em ambientes internos estruturados. Considera-se que o robô móvel está equipado com um único sensor 2DLRF, sem nenhuma informação de odometria, a qual é substituída pela informação obtida da máxima sobreposição de duas leituras consecutivas do sensor LRF, mediante algoritmos de Correspondência de Varreduras (Scan Matching). O algoritmo de Correspondência de Varreduras usado realiza uma Transformada de Distribuições Normais (NDT) para aproximar uma função de sobreposição. Para melhorar o desempenho deste algoritmo e lidar com o LRF de baixo custo, uma reamostragem dos pontos das leituras fornecidas pelo LRF é utilizada, a qual preserva uma maior densidade de pontos da varredura nos locais onde haja características importantes do ambiente. A sobreposição entre duas leituras é otimizada fazendo o uso do algoritmo de Evolução Diferencial (ED). Durante o desenvolvimento deste trabalho, o robô móvel iRobot Create, equipado com o sensor LRF Hokuyo URG-04lx, foi utilizado para coletar dados reais de ambientes internos, e diversos mapas 2D gerados são apresentados como resultados.
The robot to have the ability to move within an environment without the assistance of a human being, it is required to have a knowledge of the environment and its location within it at the same time. In many robotic applications, it is not possible to have an a priori map of the environment. In that situation, the robot needs to build a local map of its environment while executing its mission and, simultaneously, determine its location. A typical solution for the Simultaneous Localization and Mapping (SLAM) problem primarily uses two types of sensors: i) an odometer that provides information of the robot’s movement and ii) a range measurement that provides perception of the environment. In this work, a solution for the SLAM problem is presented using a DP-SLAM algorithm purely based on laser readings, focused on structured indoor environments. It considers that the mobile robot only uses a single 2D Laser Range Finder (LRF), and the odometry sensor is replaced by the information obtained from the overlapping of two consecutive laser scans. The Normal Distributions Transform (NDT) algorithm of the scan matching is used to approximate a function of the map overlapping. To improve the performance of this algorithm and deal with low-quality range data from a compact LRF, a scan point resampling is used to preserve a higher point density of high information features from the scan. An evolution differential algorithm is presented to optimize the overlapping process of two scans. During the development of this work, the mobile robot iRobot Create, assembled with one LRF Hokuyo URG-04LX, is used to collect real data in several indoor environments, generating 2D maps presented as results.
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MODI, SACHIN BRISMOHAN. "COMPARISON OF THREE OBSTACLE AVOIDANCE METHODS FOR AN AUTONOMOUS GUIDED VEHICLE." University of Cincinnati / OhioLINK, 2002. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1029343700.
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Altinok, Yahya Kemal. "Simulation And Performance Evaluation Of A Fast And High Power Pulsed Laser Diode Driver For Laser Range Finder." Master's thesis, METU, 2012. http://etd.lib.metu.edu.tr/upload/12614346/index.pdf.
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Laser Diodes (LDs) are semiconductor coherent lightening devices which are widely used in many fields such as defence, industry, medical and optical communications. They have advantageous characteristics such as having higher electrical-to-optical and optical-to-optical conversion efficiencies from pump source to useful output power when compared to flash lamps, which makes them the best devices to be used in range finding applications.
Optical output power of lasers depends on current through LDs. Therefore, there is a relationship between operating life and work performance of LDs and performance of drive power supply. Even, weak drive current, small fluctuations of drive current can result in much greater fluctuations of optical output power and device parameters which will reduce reliability of LDs.
In this thesis, a hardware for a fast and high power pulsed LD driver is designed for laser range finder and is based on linear current source topology. The driver is capable of providing pulses up to 120A with 250&mus pulse width and frequencies ranging from 20Hz to 40Hz. It provides current pulses for two LD arrays controlled with a proportional-integral (PI) controller and protect LDs against overcurrents and overvoltages. The proposed current control in the thesis reduces current regulation to less than 1% and diminishes overshoots and undershoots to a value less than 1% of steady-state value, which improves safe operation of LDs. Moreover, protection functions proposed in the thesis are able to detect any failure in driver and interrupt LD firing immediately, which guarantees safe operation of LDs.
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Zelazo, Daniel L. (Daniel Lev-Ari) 1977. "Study of a MEMS laser range finder : integration, performance and design of a 2-axis mirror control system." Thesis, Massachusetts Institute of Technology, 2001. http://hdl.handle.net/1721.1/86839.
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Thesis (M.Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2001.Includes bibliographical references (p. 143-144).
by Daniel L. Zelazo.
M.Eng.
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Rysnar, Jiří. "Řídicí a senzorický systém malého průzkumného mobilního robotu." Master's thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2011. http://www.nusl.cz/ntk/nusl-218865.
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This master’s thesis elaborates on the control of a wheeled mobile robot and its sensor system. The sensors provide information about distances of obstacles in its surroundings and orientation in area. The communication is realized by radiomodems, commands and data are sent by serial link between microncontroller and the PC.
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Krapil, Stephanie. "Adapting Monte Carlo Localization to Utilize Floor and Wall Texture Data." DigitalCommons@CalPoly, 2014. https://digitalcommons.calpoly.edu/theses/1326.
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Monte Carlo Localization (MCL) is an algorithm that allows a robot to determine its location when provided a map of its surroundings. Particles, consisting of a location and an orientation, represent possible positions where the robot could be on the map. The probability of the robot being at each particle is calculated based on sensor input.
Traditionally, MCL only utilizes the position of objects for localization. This thesis explores using wall and floor surface textures to help the algorithm determine locations more accurately. Wall textures are captured by using a laser range finder to detect patterns in the surface. Floor textures are determined by using an inertial measurement unit (IMU) to capture acceleration vectors which represent the roughness of the floor. Captured texture data is classified by an artificial neural network and used in probability calculations.
The best variations of Texture MCL improved accuracy by 19.1\% and 25.1\% when all particles and the top fifty particles respectively were used to calculate the robot's estimated position. All implementations achieved comparable performance speeds when run in real-time on-board a robot.
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Stiber, Stephanie A. "Development of an End-effector Sensory Suite for a Rehabilitation Robot." Scholar Commons, 2006. http://scholarcommons.usf.edu/etd/3796.
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This research presents an approach in assisting the control and operation of a rehabilitation robot manipulator to execute simple grasping tasks for persons with severe disabilities. It outlines the development of an end-effector sensory suite that includes the BarrettHand end-effector, laser range finder, and a low cost camera.
The approach taken in this research differs greatly from the currently available rehabilitation robot arms in that it requires minimal user instruction, it is easy to operate and more effective for persons severely disabled. A thorough study of the currently available systems; Manus, Raptor and Kares II arm, is also presented.
In order to test the end-effector sensory suite, experiments were performed to find the centroid of an object of interest to direct the robot end-effector towards it with minimal error. Analyses of centroid location data to ensure accurate results are also presented.
The long term goal of this research is to significantly enhance the ability of severely disabled persons to perform activities of daily living using wheelchair mounted robot arms. The sensory suite developed through this project is expected to be integrated into a seven-degree of freedom wheelchair mounted robot arm currently under development at the Rehabilitation Robots Laboratory at the University of South Florida.
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Votava, Martin. "Platforma pro vývoj tří-rotorové helikoptéry." Master's thesis, Vysoké učení technické v Brně. Fakulta informačních technologií, 2012. http://www.nusl.cz/ntk/nusl-236581.
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The goal of this master's thesis is design and built of platform for three-rotor helicopter development. The helicopter is also known as tricopter. Theoretical part describes principle of tricopter's flight and stabilization. There is also described basics inertial navigation system and sensors which are required for correct functionality. Practical part is dedicated to development of tricopter's frame, schematics diagram, communication between subsystems and stabilization system development. Flight stablization system is base on ATmega128A an using PID Controller. In the end is described testing of developed platform.
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Zatloukal, Jiří. "Senzorika a řízení pohonů 4 kolového mobilního robotu." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2013. http://www.nusl.cz/ntk/nusl-230890.
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The diploma thesis is dealing with the proposal and realization of the sensor and drive system of the four wheel mobile robot. The control unit is a miniature computer Raspberry Pi. The robot will be employed in the future for the environment mapping and location. For this purpose robot exploits the different types of sensors. The information of these sensors is being processed by the Xmega microcontroller. Another microcontroller together with H-bridge DRV-8432 is used to control the direct current drives.
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Campione, Ivo. "Integrazione tra analisi termografica e rilievo tridimensionale: studio metodologico e verifiche sperimentali." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2017.
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La termografia 3D, tema oggetto di molta ricerca negli ultimi anni, sfrutta tecniche di data fusion che consentono l’integrazione tra dato termografico e dato tridimensionale, proveniente da strumenti di ingegneria inversa. La termografia 3D ha numerose applicazioni e potenzialità, le più note in ambito ingegneristico, medico e di conservazione dei beni culturali.
Partendo dalla tesi di dottorato dell’Ing. Francesca Lucchi e da un’accurata analisi dello stato dell’arte, è stata sviluppata una metodologia, per quanto possibile rigorosa ma di agevole implementazione, per unire i dati provenienti da un laser scanner e da una termocamera, al di fine di creare una nuvola di punti completata con i valori delle temperature.
Poiché la radiazione percepita dai sensori della termocamera è affetta da un errore sistematico dipendente dalla geometria dell’oggetto esaminato, nella seconda parte della tesi è stato applicato un modello di correzione delle temperature che sfrutta la conoscenza della geometria dell’oggetto, e sono stati effettuati vari esperimenti per verificarne l’efficacia.
La tecnica di integrazione messa a punto in questo lavoro di tesi, anche attraverso la scrittura di codice originale in Matlab, non necessita di una lunga fase iniziale di set-up, e consente di mantenere i due dispositivi completamente indipendenti tra loro, rendendola particolarmente versatile ma mantenendo allo stesso tempo un elevato livello di precisione ed accuratezza.
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Holmberg, Per. "Sensor Fusion with Coordinated Mobile Robots." Thesis, Linköping University, Department of Electrical Engineering, 2003. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-1717.
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Robust localization is a prerequisite for mobile robot autonomy. In many situations the GPS signal is not available and thus an additional localization system is required. A simple approach is to apply localization based on dead reckoning by use of wheel encoders but it results in large estimation errors. With exteroceptive sensors such as a laser range finder natural landmarks in the environment of the robot can be extracted from raw range data. Landmarks are extracted with the Hough transform and a recursive line segment algorithm. By applying data association and Kalman filtering along with process models the landmarks can be used in combination with wheel encoders for estimating the global position of the robot. If several robots can cooperate better position estimates are to be expected because robots can be seen as mobile landmarks and one robot can supervise the movement of another. The centralized Kalman filter presented in this master thesis systematically treats robots and extracted landmarks such that benefits from several robots are utilized. Experiments in different indoor environments with two different robots show that long distances can be traveled while the positional uncertainty is kept low. The benefit from cooperating robots in the sense of reduced positional uncertainty is also shown in an experiment.
Except for localization algorithms a typical autonomous robot task in the form of change detection is solved. The change detection method, which requires robust localization, is aimed to be used for surveillance. The implemented algorithm accounts for measurement- and positional uncertainty when determining whether something in the environment has changed. Consecutive true changes as well as sporadic false changes are detected in an illustrative experiment.
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Fritz, Tomáš. "Aplikace s 3D laserovým dálkoměrem SICK." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2009. http://www.nusl.cz/ntk/nusl-228373.
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This thesis presents a use of 3D laser range finder designed for purposes of autnonomous mobile systems. The 3D scanner is built as extension of 2D laser range finder with rotation module. In the first section is described laser range finder SICK LMS 291 and his pitching construction along with used software tools. Second part deals with design and implementation of algorithms for data reading and their processing with methods of surface reconstruction, octree and object segmentation with Hough transform.
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Majerčík, Pavel. "Nízkonákladový snímač vzdálenosti pro mobilní robot založený na snímači SRF05." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2017. http://www.nusl.cz/ntk/nusl-317202.
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This master's thesis deals with determination of properties of the ultrasonic sensor SRF05. It is about finding factors that distort or have other negative effects in any way on the proper functionality of these sensors. First of all, it was necessary to program a chip mounted on signal processing board for correct functionality and operation of sensors. Then a few sets of measurements were done to determine the behaviour of sensors for different distances. In addition, we had to carry out many more measurements to find out the influence of temperature, light conditions, material of the sensed surface or cross-noise caused by the use of multiple sensors. In the next step, the approximate shape of the transmitted ultrasound was investigated to determine the zone of detection. The last task of this thesis was to compare the SRF05 sensors with other ultrasonic sensors from different manufacturers.
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Hata, Alberto Yukinobu. "Mapeamento de ambientes externos utilizando robôs móveis." Universidade de São Paulo, 2010. http://www.teses.usp.br/teses/disponiveis/55/55134/tde-13072010-144634/.
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A robótica móvel autônoma é uma área relativamente recente que tem como objetivo a construção de mecanismos capazes de executar tarefas sem a necessidade de um controlador humano. De uma forma geral, a robótica móvel defronta com três problemas fundamentais: mapeamento de ambientes, localização e navegação do robô. Sem esses elementos, o robô dificilmente poderia se deslocar autonomamente de um lugar para outro. Um dos problemas existentes nessa área é a atuação de robôs móveis em ambientes externos como parques e regiões urbanas, onde a complexidade do cenário é muito maior em comparação aos ambientes internos como escritórios e casas. Para exemplificar, nos ambientes externos os sensores estão sujeitos às condições climáticas (iluminação do sol, chuva e neve). Além disso, os algoritmos de navegação dos robôs nestes ambientes devem tratar uma quantidade bem maior de obstáculos (pessoas, animais e vegetações). Esta dissertação apresenta o desenvolvimento de um sistema de classificação da navegabilidade de terrenos irregulares, como por exemplo, ruas e calçadas. O mapeamento do cenário é realizado através de uma plataforma robótica equipada com um sensor laser direcionado para o solo. Foram desenvolvidos dois algoritmos para o mapeamento de terrenos. Um para a visualização dos detalhes finos do ambiente, gerando um mapa de nuvem de pontos e outro para a visualização das regiões próprias e impróprias para o tráfego do robô, resultando em um mapa de navegabilidade. No mapa de navegabilidade, são utilizados métodos de aprendizado de máquina supervisionado para classificar o terreno em navegável (regiões planas), parcialmente navegável (grama, casacalho) ou não navegável (obstáculos). Os métodos empregados foram, redes neurais artificais e máquinas de suporte vetorial. Os resultados de classificação obtidos por ambos foram posteriormente comparados para determinar a técnica mais apropriada para desempenhar esta tarefaAutonomous mobile robotics is a recent research area that focus on the construction of mechanisms capable of executing tasks without a human control. In general, mobile robotics deals with three fundamental problems: environment mapping, robot localization and navigation. Without these elements, the robot hardly could move autonomously from a place to another. One problem of this area is the operation of the mobile robots in outdoors (e.g. parks and urban areas), which are considerably more complex than indoor environments (e.g. offices and houses). To exemplify, in outdoor environments, sensors are subjected to weather conditions (sunlight, rain and snow), besides that the navigation algorithms must process a larger quantity of obstacles (people, animals and vegetation). This dissertation presents the development of a system that classifies the navigability of irregular terrains, like streets and sidewalks. The scenario mapping has been done using a robotic platform equipped with a laser range finder sensor directed to the ground. Two terrain mapping algorithms has been devolped. One for environment fine details visualization, generating a point cloud map, and other to visualize appropriated and unappropriated places to robot navigation, resulting in a navigability map. In this map, it was used supervised learning machine methods to classify terrain portions in navigable (plane regions), partially navigable (grass, gravel) or non-navigable (obstacles). The classification methods employed were artificial neural networks and support vector machines. The classification results obtained by both were later compared to determine the most appropriated technique to execute this task
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Mašek, Petr. "Návrh a realizace modulů pro ověřování funkčnosti HW periferií mobilního robotu." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2012. http://www.nusl.cz/ntk/nusl-230241.
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This diploma thesis deals with design and realization of testing modules for detecting a defective peripheral in a mobile robot. One of the modules is intended for the diagnosis of ultra sonic range finder. The second one simulates the behaviour of these ultra sonic range finders, making it able to determine interface on which it is necessary to look for an error.
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Wei, Lijun. "Multi-sources fusion based vehicle localization in urban environments under a loosely coupled probabilistic framework." Phd thesis, Université de Technologie de Belfort-Montbeliard, 2013. http://tel.archives-ouvertes.fr/tel-01004660.
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In some dense urban environments (e.g., a street with tall buildings around), vehicle localization result provided by Global Positioning System (GPS) receiver might not be accurate or even unavailable due to signal reflection (multi-path) or poor satellite visibility. In order to improve the accuracy and robustness of assisted navigation systems so as to guarantee driving security and service continuity on road, a vehicle localization approach is presented in this thesis by taking use of the redundancy and complementarities of multiple sensors. At first, GPS localization method is complemented by onboard dead-reckoning (DR) method (inertial measurement unit, odometer, gyroscope), stereovision based visual odometry method, horizontal laser range finder (LRF) based scan alignment method, and a 2D GIS road network map based map-matching method to provide a coarse vehicle pose estimation. A sensor selection step is applied to validate the coherence of the observations from multiple sensors, only information provided by the validated sensors are combined under a loosely coupled probabilistic framework with an information filter. Then, if GPS receivers encounter long term outages, the accumulated localization error of DR-only method is proposed to be bounded by adding a GIS building map layer. Two onboard LRF systems (a horizontal LRF and a vertical LRF) are mounted on the roof of the vehicle and used to detect building facades in urban environment. The detected building facades are projected onto the 2D ground plane and associated with the GIS building map layer to correct the vehicle pose error, especially for the lateral error. The extracted facade landmarks from the vertical LRF scan are stored in a new GIS map layer. The proposed approach is tested and evaluated with real data sequences. Experimental results with real data show that fusion of the stereoscopic system and LRF can continue to localize the vehicle during GPS outages in short period and to correct the GPS positioning error such as GPS jumps; the road map can help to obtain an approximate estimation of the vehicle position by projecting the vehicle position on the corresponding road segment; and the integration of the building information can help to refine the initial pose estimation when GPS signals are lost for long time.
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Adiaviakoye, Ladji. "Observatoire de trajectoire de piétons à l'aide d'un réseau de télémètre laser à balayage : application à l'intérieur des bâtiments." Thesis, Angers, 2015. http://www.theses.fr/2015ANGE0086.
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Dans la vie de tous les jours, nous assistons à des chorégraphies surprenantes dans les déplacements de foules de piétons. Les mécanismes qui sont à la base de la dynamique des foules humaines restent peu connus. Un des modes d’observation des piétons consiste à réaliser des mesures en conditions réelles (exemple : aéroport, gare, etc.). La trajectoire empruntée, la vitesse et l’accélération sont les données de base pour une telle analyse. C’est dans ce contexte que se placent nos travaux qui combinent étroitement observations en milieu naturel et expérimentations contrôlées. Nous avons proposé un système pour le suivi de plusieurs piétons dans un environnement fermé, à l’aide d’un réseau de télémètres lasers à balayage. Nous avons fait avancer l’état de l’art sur quatre plans.Premièrement, nous avons introduit une méthode de fusion automatique des données, permettant de discriminer les objets statiques (murs, poteaux, etc.) et aussi d’augmenter le taux de détection.Deuxièmement, nous avons proposé une méthode de détection non paramétrique basée sur la modélisation de la marche. L’algorithme estime la position du piéton, que celui-ci soit immobile ou en mouvement.Finalement, notre suivi repose sur la méthode Rao-Blackwell Monte Carlo Association de Données, avec la particularité de suivre un nombre variable de piétons.L’algorithme a été évalué quantitativement par des expériences de comportement social à différents niveaux de densité. Ces expériences ont eu lieu dans une école, près de 300 piétons ont été suivis dont une trentaine simultanémentIn everyday life, we witness surprising choreographies in the movements of crowds of pedestrians. The mechanisms that underlie the dynamics of human crowd dynamics remain poorly understood. One of the ways of observing pedestrians consists in taking measurements in real conditions (e. g. airport, station, etc.). The trajectory, speed and acceleration are the basic data for such an analysis. It is in this context that our work is placed, which closely combines observations in the natural environment with controlled experiments. We proposed a system for tracking multiple pedestrians in a closed environment using a network of scanning laser rangefinders. We have advanced the state of the art on four levels: first, we have introduced an automatic data fusion method to discriminate static objects (walls, poles, etc.) and also to increase the detection rate; second, we have proposed a non-parametric detection method based on walking modeling. The algorithm estimates the position of the pedestrian, whether stationary or moving, and finally, our monitoring is based on the Rao-Blackwell Monte Carlo Association Data Method, with the particularity of tracking a variable number of pedestrians, which was quantitatively evaluated by experiments in social behaviour at different levels of density. These experiments took place in a school, nearly 300 pedestrians were followed, about thirty of them simultaneously
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MacPherson, David Leonard. "Automated cartography by an autonomous mobile robot using ultrasonic range finders /." Monterey, Calif. : Springfield, Va. : Naval Postgraduate School ; Available from the National Technical Information Service, 1993. http://handle.dtic.mil/100.2/ADA275117.
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MacPherson, David Leonard Jr. "Automated cartography by an autonomous mobile robot using ultrasonic range finders." Diss., Monterey, California. Naval Postgraduate School, 1993. http://hdl.handle.net/10945/39971.
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Approved for public release; distribution is unlimited.The problem solved was for an autonomous mobile robot to generate a precise map of its orthogonal, indoor environment. The maps generated by the robot's sensors must be perfect so they can be used in subsequent navigation tasks using the same sensors. Our approach performed map-making incrementally with a partial world data structure describing incomplete polygons. A striking feature of the partial world data structure was they consist of 'real' and 'inferred' edges. Basically, in each learning step, the robot's sensors scan an unexplored region to obtain new 'real' and 'inferred' edges by eliminating at least one 'inferred' edge. The process continues until no 'inferred' edges remain in the partial world. In order to make this algorithm possible, linear fitting of sensor input, smooth vehicle motion control, dead reckoning error correction, and a mapping algorithm were developed. This algorithm was implemented on the autonomous mobile robot Yamabico-11. The results of this experiment using Yamabico-11 were threefold. (1) A smooth path tracking algorithm resulted in motion error of less than 2% in all experiments. (2) Dead reckoning error correction experiments revealed small, consistent vehicle odometry errors. The maximum observed error was 1.93 centimeters and 1.04 deg over a 9.14 meter course. (3) Precise mapping was demonstrated with a map accuracy in the worst case of 25 centimeters and 2 deg of hand measured maps. The ability to explore an indoor world space while correcting dead reckoning error is a significant improvement over previous work (Leonard 91) (Crowley 86) (Cox 91)
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Jonsson, William. "Navigating Robot : Indoor Navigation Using Color Tracking and Ultrasonic Range Finders." Thesis, KTH, Maskinkonstruktion (Inst.), 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-184496.
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Indoor navigation for autonomous vehicles and robots is an area of research and development with great promises for both current and future applications. Examples include robots assisting humans in indoor tasks, and industrial applications such as warehouse management using autonomous robots [Jensen, 2001]. This project examines the possibilities and limitations of navigating an autonomous vehicle in an enclosed area with the aid of visual recognition software and distancing sensors. The navigation works by using two sets of references: the distance and the relative angle to a point of origin that in this project is a visual reference attached to a flat and visually clean background. The autonomous vehicle is constructed with open source hardware and utilizes already available visual recognition software and all control software is written in Python 2.7. The scope of the project limits the navigation of the robot on a flat surface with no obstacles and with access to a nearby flat wall with a visual reference. A demonstrator was built and empirically tested for its navigational accuracy. The positional accuracy was found to have a mean deviation of ± 1 and ± 4.5 centimeters for the x and y-axis respectively.Navigering och lokalisering inomhus är ett hett forskningsområde både inom vetenskapen och ingenjörstillämpningar. Exempel på system som kan förbättras med sådan teknik är robotar som assisterar människor i hemmet samt automatisering av industrirobotar som är fria att röra sig över golvytor [Jensen, 2001]. Detta kandidatexamensprojekt undersöker möjligheterna och begränsningarna av navigering inomhus för en autonom robot med hjälp av färg-igenkännande bildbehandling och avståndssensorer. Navigeringen sker med hjälp av två riktmärken: en visuell referens monterad på en plan vägg och avståndet mellan robot och vägg. Robotens interna styrelektronik, sensorer samt mjukvara är alla open source. Bredden av projektet begränsas av villkoren att navigationen sker på en plan yta utan hinder samt tillgång till en plan vägg med en visuell referens. Slutgiltiga systemets navigationssäkerhet kontrollerades och mättes empiriskt och uppskattades till att ha en medelavvikelse på ± 1 cm och ± 4.6 cm för x respektive y-axeln.
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Vožda, Ondřej. "Řízení invalidního vozíku." Master's thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2013. http://www.nusl.cz/ntk/nusl-220145.
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This thesis describes development of control algorithm for a wheelchair. Wheelchair should be capable of tracking and following a wall or a similar flat surface. Thesis is supposed to be an extension of the previous concept, whose purpose was to allow remote telepresence control of this wheelchair. SRF08 ultrasonic range finders are used to measure distance from the wall. Furthermore, image processing for mark detection is discussed. Purpose of these marks is to increase precision during final phase of the parking.
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Jin, Zhe Kun. "Système multi-agents appliqué à la navigation d'un robot mobile dans un environnement inconnu." Cachan, Ecole normale supérieure, 1997. http://www.theses.fr/1997DENS0008.
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Cette thèse présente une étude sur la navigation d'un robot mobile dans un environnement inconnu. Nous avons débuté ce travail par un état de l'art. Par l'analyse des architectures de commande, notre choix s'est porte sur l'architecture de commande réactive base sur un système multi-agents en raison de sa flexibilité et des diverses possibilités d'évolution. Nous avons place ce travail dans le projet de robot mobile Amara (architecture multi-agents pour un robot autonome), le système de commande multi-agents est lui-même un agent de navigation dans l'ensemble du système de commande Amara. Dans le système de commande multi-agents développé, chaque agent représente un des comportements élémentaires du robot. Le comportement du robot mobile est le comportement émergé de ses comportements élémentaires. Nous avons implémenté les agents de comportement élémentaire en utilisant les données sur l'environnement délivrées par un télémètre laser panoramique. L'intégration des agents au sein du système se fait par le moyen du champ potentiel dérivé. Chaque agent fournit un gradient partiel du champ potentiel. Le gradient global est la somme pondérée de tous les gradients partiels. Un logiciel de simulation smasim (système multi-agents simulateur) sous Windows a été développé pour visualiser le comportement du robot et pour valider le choix du système. Nous l'avons utilise pour étudier le comportement du système de commande multi-agents en simulation
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Ben-Naser, Abdusalam. "Measurement of range of motion of human finger joints, using a computer vision system." Thesis, Loughborough University, 2011. https://dspace.lboro.ac.uk/2134/12531.
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Assessment of finger range of motion (ROM) is often required for monitoring the effectiveness of rehabilitative treatments and for evaluating patients' functional impairment. There are several devices which are used to measure this motion, such as wire tracing, tracing onto paper and mechanical and electronic goniometry. These devices are quite cheap, excluding electronic goniometry; however the drawbacks of these devices are their lack of accuracy and the time- consuming nature of the measurement process. The work described in this thesis considers the design, implementation and validation of a new medical measurement system utilized in the evaluation of the range of motion of the human finger joints instead of the current measurement tools. The proposed system is a non-contact measurement device based on computer vision technology and has many advantages over the existing measurement devices. In terms of accuracy, better results are achieved by this system, it can be operated by semi-skilled person, and is time saving for the evaluator. The computer vision system in this study consists of CCD cameras to capture the images, a frame-grabber to change the analogue signal from the cameras to digital signals which can be manipulated by a computer, Ultra Violet light (UV) to illuminate the measurement space, software to process the images and perform the required computation, a darkened enclosure to accommodate the cameras and UV light and to shield the working area from any undesirable ambient light. Two calibration techniques were used to calibrate the cameras, Direct Linear Transformation and Tsai. A calibration piece that suits this application was designed and manufactured. A steel hand model was used to measure the fingers joint angles. The average error from measuring the finger angles using this system was around 1 degree compared with 5 degrees for the existing used techniques.
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Hesami, Reyhaneh. "Large-scale range data acquisition and segmentation." Swinburne Research Bank, 2009. http://hdl.handle.net/1959.3/66878.
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Thesis (PhD) - Swinburne University of Technology, Faculty of Engineering and Industrial Sciences, 2009.A thesis submitted in total fulfilment of the requirements for the degree of Doctor of Philosophy, Faculty of Engineering and Industrial Sciences, Swinburne University of Technology, 2009. Typescript. Bibliography: p. 144-165.
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Griffiths, Stephen Richard. "Remote terrain navigation for unmanned air vehicles /." Diss., CLICK HERE for online access, 2006. http://contentdm.lib.byu.edu/ETD/image/etd1167.pdf.
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Wei, Yi-Kuang, and 魏毅光. "Laser Range Finder." Thesis, 1997. http://ndltd.ncl.edu.tw/handle/87057336868565316374.
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碩士國立臺灣大學
電機工程學系
85
This paper presents a laser range finder. The method of finding range we used is beam modulation. This laser range finder can be divided into two parts. First part is the optical system, which is provided by CHUNG-SHAN INSTITUTE OF SCIENCE & TECHNOLOGY. The second part is the electronic signal-processing system, which contains oscillators, mixers, filters, automatic gain control circuit, phase meter, and monitorial circuit. The resolution of this laser range finder is in 2mm. The measured range of the laser finder is within 50m.
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Hsieh, Chi-Chieh, and 謝琪杰. "Laser Range Finder Interference System." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/61499104241415704367.
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碩士逢甲大學
電機工程所
98
This paper presents a study on electro-optical technique system for laser range finder countermeasure. The laser range finder is the most advanced and high performance range meter. With the advances of semiconductor and electro-optical technology, the accuracy and portability of laser range finder had improved. The application of laser ranging finder as following: military, civil, aviation, transport, industry and etc. Laser ranging finder provides more fast and accurate distance data. Today, laser range finder has brought many conveniences but according to necessary of data, security, and military, this paper publishes a simple countermeasure against the laser range finder that disrupting the range measurement, and causing the enemy to overshoot to the falsely extended range. The laser range finder has been effectively countermeasured by 1200lp/mm grating. Besides, the system can copy laser range finder echo signal successfully.
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Huang, Chen-Yi, and 黃振溢. "Research of high dynamic range laser range finder." Thesis, 2005. http://ndltd.ncl.edu.tw/handle/43053548055543683095.
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Chen, Yi-Hsien, and 陳逸咸. "Cross-lines marking laser range finder." Thesis, 2011. http://ndltd.ncl.edu.tw/handle/39067750335449912801.
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碩士中華大學
機械工程學系碩士班
99
A fine cross-lines laser marking range finder is researched and developed in red and green light lasers. The spatial filtered collimator investigation and the single element component optics design come out the fine laser cross-lines for precision marking. The medium to long range high accuracy laser ranging modulars were embeded into this sophisticate opto electo-mechanical integrated system. Key words: Red light laser, green light laser, laser marker, laser range finder, cross-lines laser marking range finder.
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Zhuang, Zhe-Ming, and 莊哲明. "A range finder using wavefront sensing." Thesis, 2011. http://ndltd.ncl.edu.tw/handle/22020227375798248594.
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碩士國立交通大學
電控工程研究所
100
In recent years, range imaging technology has been highly developed because of the progress of laser and electric technology. Unlike traditional CCD and CMOS cameras, the depth camera captures 3D images which contain the depth data of the target so that is often used in robot vision, vehicle safety, laser tracking, reverse engineering and electronic games. Generally in a depth camera, the two-dimensional measurement can be accomplished by using CCD and CMOS image sensor arrays and the depth of targets can be measured by various range finding techniques such as time of flight method, triangulation method, and ultrasonic method. Nevertheless these range finding methods often need complex circuit and optical system that increase the difficulty to integrate the two-dimensional image sensor with the range finder. This thesis presents a range finding method which use a wavefront sensor to sense the spherical wavefront of a point light source for calculating the source’s position. This method does not need complex circuit and the wavefront sensor is easily fabricated. The analysis and simulation show that the range error is smaller than 1 mm in the measurement range from 0.5 m to 5 m. A range finder was accomplished and the experiment using LED showed that the relative range error was about 8％ in measurement range from 0.5 m ~3 m and the relative range error was larger than 10％ in 3 m. Problems encountered during the study, such as the range accuracy, are discussed for future work.
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Nguyen, Anh Tuan, and 阮俊英. "Circuit Design for an Ultrasonic Range Finder." Thesis, 2019. http://ndltd.ncl.edu.tw/handle/8u96zj.
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碩士國立交通大學
電機資訊國際學程
107
To date, low-cost high-performance ultrasonic range finders remain a significant role in both domestic and industrial applications. In these systems, distance measurements are based on determining the time-of-flight (TOF) of reflected echoes in a pulse-echo configuration. In this work, our first goal is to investigate circuit techniques and digital signal processing algorithms to improve the range and resolution of a proposed ultrasonic range finder. In addition, from the results of this system, we will explore a design of ultrasonic interface integrated sub-circuits toward noise reduction and compactness. An experimental circuitry being constructed to operate with 100kHz transducers is capable of detecting a distance within the range of 3m with a resolution of 0.1m (or 100mm). From these references, a combination of ultrasonic interface integrated sub-circuits was simulated. This circuit can achieve a peak Signal-to-Noise-and-Distortion Ratio (SINAD) of 80dB.
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Kuo, Chia-Hao, and 郭家豪. "CMOS Wireless Transceiver for Range Finder System." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/10644091547202445126.
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碩士國立臺灣科技大學
電機工程系
98
In this thesis, an UHF ASK transceiver for the range finder system is demonstrated using 0.18-um CMOS technology. The injection locked technology and frequency multiplier circuits are employed to implement the transmitter. The required injection signal for transmitter to achieve UHF RF signals is provided by a crystal oscillator. As compared with traditional architectures, the advantage of the transmitter lies in that it requires no on-chip phase-locked loop, which eases a miniaturized and low cost design of the transmitter. The experimental results show that the output power of the circuit is -14 dBm at a power consumption of 7 mW. Under the injection-locked condition, the circuit presents a flat phase noise of -116 dBc/Hz over the offset frequency range from 10 kHz to 1 MHz. The die occupies 1.96 mm2 including pads.The ASK receiver consists of a common-gate low noise amplifier、a cascaded gain amplifier、a demodulator、a comparator and a data buffer. The tiny chip area and the low power consumption are the advantages of this architecture which not only reduces the cost of the range finder system, but also extends the battery life. The experimental results show that a sensitivity of -58 dBm and a maximum input power of -30 dBm are achieved at 905 MHz frequency band with a power consumption of 4.1 mW.The die occupies 0.71 mm2 including pads. Furthermore, the application of the field-plate technology on the ring oscillator is demonstrated in the last part of this thesis. The experimental results show that the 1/f noise is effectively suppressed by the field-plate technology and an improvement of 2~3 dB in the phase noise can be achieved in a 400-700 MHz CMOS VCO.
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Liu, Wen-Chieh, and 劉文傑. "Range Finder With Pulse Reflection Oscillation Method." Thesis, 2003. http://ndltd.ncl.edu.tw/handle/64121824428828339033.
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博士國立交通大學
光電工程所
91
For either one of the two conventional methods, the phase method or the pulse method, employed in usual laser range-finders, more and more sophisticated circuit is needed when higher and higher precision is to be performed. The purpose of this thesis is to present a new method, the pulse reflection oscillation method, and to verify its feasibility by designing and operating a prototype system based on its principle. The pulse reflection oscillation method works by measuring the period of oscillation waves in the emission-reflection loop to decide the propagation time between the target point and the reference point. It employs a frequency counter to measure the period. It can perform very high precision measurement with very simple circuit. In this thesis, the system’s optical path configuration is defined and the principle of pulse reflection oscillation is discussed. Based on the configuration, the system is applied in the measurement of the propagation delay in optical fibers and in the determination of the fault point in electric cables. The results verify the feasibility of the method.
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Nan, Shyu Chin, and 徐欽南. "Time of flight semiconductor laser range finder." Thesis, 1999. http://ndltd.ncl.edu.tw/handle/56319734971870746364.
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Chen, Jian-Han, and 陳建翰. "Range finder technology of pulse semiconductor laser." Thesis, 1999. http://ndltd.ncl.edu.tw/handle/97141058290272955548.
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Chang, Chun-Chieh, and 張鈞傑. "Laser Range Finder Using Novel Arbitrary Modulation Frequency." Thesis, 2006. http://ndltd.ncl.edu.tw/handle/58921305641132118442.
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碩士國立中央大學
光電科學研究所
94
Resulting from the working principles, Laser Range Finders (LRF) are divided into five main categories: interferometric, triangulation, pulse, phase-shift and frequency modulated continuous wave (FMCW) methods. The phase-shift range finder is well adapted to industrial applications in measurement of middle distance. The paper proposed that the phase-shift laser range finder using a arbitrary-modulation frequency method associating the novel patented circuit design with an effective computing algorithm. Its main advantage is a global simplification of the electronic system, leading to a quite simple development and low cost system. The whole system has been designed with divider of frequency producing arbitrary-modulation frequency giving the distance within a wide range and high resolution.
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Chung, Chen-Chien, and 鍾鎮謙. "Mobile Robot Localization Using A Laser Range Finder." Thesis, 2006. http://ndltd.ncl.edu.tw/handle/36484113059043894714.
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碩士國立交通大學
電機與控制工程系所
95
Mobile robots should have the ability of self-localization for navigation in an environment. The objective of this thesis is to design a mobile robot localization system using a laser scanner. A particle filter is designed to estimate robot’s position in this study. The particle filter predicts robot’s position from odometer data, and updates the predicted robot’s position by using the distance measurements of the environment. The localization system estimates robot’s orientation by comparing the information from laser range finder with the environmental map. We can estimate the robot’s orientation by first fitting the distance data from laser range finder to a line set, then combining the line set with robot’s position information to match with the environment map. The system has been demonstrated using an experimental mobile robot. Several navigation experiments in an indoor environment have been carried out. Satisfactory experimental results are presented in this thesis.
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CAI, MING-FA, and 蔡明發. "A scanning laser-range-finder with dual receivers." Thesis, 1986. http://ndltd.ncl.edu.tw/handle/99150960654150764402.
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Tsai, Chang-Yun, and 蔡長運. "Compact Time-of-Flight Laser Range Finder with Wide Range and High Precision." Thesis, 2014. http://ndltd.ncl.edu.tw/handle/17913169614099620972.
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碩士國立交通大學
理學院應用科技學程
102
The thesis focuses on the operation and the development of the time of flight (TOF) laser rangefinder technology. The laser rangefinder technology is fulfilled by using a pulsed laser system as a light source to emit stable optical signals. When a receiver measured the reflected optical signals from a reflector, the time difference between the emitted and the reflected light can be instantaneously analyzed through an electronic microprocessor. The distance between the emitter and the reflector can be systematically calculated with the information of the measured time difference between the signals. In this work we employ the continuous high-speed pulsed technology to successfully develop a powerful dual-mode laser rangefinder system which maintains fairly precise measurement for different measured distances. Moreover, it can be expected that the simplicity of the circuit design and low power consumption could lead the system to be served as a portable device in the future.
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Lo, Chien-Hao, and 羅健豪. "The Design and Implementation of a 3D Range Finder." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/57192406932736493867.
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碩士崑山科技大學
數位生活科技研究所
98
In this thesis, a 3D laser distance measurement module, function with servo motor and laser range finder independent control software on the user if you want to use one single instrument can also directly call module method. In addition, motors and sensors will also integrate the two instruments as a three-dimensional scanning module, the integrated use and individual use of the great scalability. Quantify the production process of computing the geometric equation and make the choice of a quantitative way, through the precision the scope of requirements and restrictions to select scan 2D laser range finder and prediction system can get to accuracy. In addition, the analysis also found that by choosing different rotation axis to rotate 2D laser range finder, can produce variability were presented with precision and regularity results. Part of the software architecture will be divided into three parts, laser range finder, servo motors and 3D distance measurement module includes a motor control function, scanning laser rangefinder and advanced measurement capabilities the research process of software development platform using Visual Studio 2008 C # to develop, really made of. NET interface to facilitate the supply of program development in various languages to use, integrated hardware devices designed for use with “SolidWorks eDrawings” mechanical drawing software for this design. Validate some of the practical use of scanned data in the natural environment, the angle sensor itself is scanned, the motor angle and distance to obstacles the 3D drawing into a three-dimensional black and white graphics.