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1
Gonullu, Muhammet Kasim. "Development Of A Mobile Robot Platform To Be Used In Mobile Robot Research." Master's thesis, METU, 2013. http://etd.lib.metu.edu.tr/upload/12615654/index.pdf.
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Robotics is an interdisciplinary subject and combines mechanical, computer and electrical engineering components together to solve different kinds of problems. In order to build robotic systems, these disciplines should be integrated. Therefore, mobile robots can be used as a tool in education for teaching engineering concepts. They can be employed to be used in undergraduate, graduate and doctorate research. Hands on experience on a mobile robot increase motivation of the students on the topic and give them precious practical knowledge. It also delivers students new skills like teamwork, problem solving, creativity, by executing robotic exercises. To be able to fulfill these outcomes, universities and research centers need mobile robot platforms that are modular, easy to build, cheap and flexible. However it should be also powerful and capable of being used in different research studies and hence be customizable depending on the requirements of these topics.
This thesis aims at building an indoor mobile robot that can be used as a platform for developing algorithms involving various sensors incorporated onto a mobile platform. More precisely, it can be used as a base for indoor navigation and localization algorithms, as well as it can be used as platform for developing algorithms for larger autonomous mobile robots. The thesis work involves the design and manufacturing of a mobile robot platform that can potentially facilitate mobile robotics research that involves use of various hardware to develop and test different perception and navigation algorithms.
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Morales, Néstor, and Manuel Serrano. "Autonomous Robotics Platforms." Thesis, Högskolan i Skövde, Institutionen för ingenjörsvetenskap, 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:his:diva-17261.
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Nowadays, it is of crucial importance for the manufacturing industry to be prepared for the application and understanding of autonomous mobile robots. Given this fact, educational institutions have to provide knowledge and experience to students. These autonomous mobile robots are made and controlled using different platforms and programming languages. Currently, the University of Skövde wishes to expand the range of tools to be available for building and experimenting with autonomous robots. For this purpose, this thesis project has two main goals. The first goal is finding the best available robotic platform for small scale, self-built, programmable robots. Such a platform has to include all the hardware necessary for later implementation with the software. The platform is evaluated in this thesis following different criteria. The second goal is to build a robot using the chosen platform. The robot has to perform a certain task taking advantage of its specific hardware. The development of the task has been achieved using the Robot Operative System (ROS). This thesis provides step by step instructions of how to build the platform and perform the task.
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Breuers, Stefan [Verfasser]. "Multi-Object Tracking and Person Analysis from Mobile Robot Platforms / Stefan Breuers." Düren : Shaker, 2020. http://d-nb.info/1206855932/34.
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Breuers, Stefan [Verfasser], Bastian [Akademischer Betreuer] Leibe, and Horst-Michael [Akademischer Betreuer] Groß. "Multi-object tracking and person analysis from mobile robot platforms / Stefan Breuers ; Bastian Leibe, Horst-Michael Groß." Aachen : Universitätsbibliothek der RWTH Aachen, 2020. http://d-nb.info/1221373234/34.
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Bemis, Steven. "Design and development of a novel omni-directional platform." Thesis, UOIT, 2009. http://hdl.handle.net/10155/29.
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This thesis presents the design and development of a unique omni-directional platform
known as the Omnibot which was built in the Mechatronic and Robotic Systems
Laboratory at UOIT. The Omnibot's layout is novel because its drive axes do not
intersect with the geometric center of the body, which is typical for omni-directional
platforms using segmented omni-directional wheels. This design enables the center of
mass to be lower in the design and increases the stability. A suspension system was
designed for each of the four wheels to limit vibrations and to ensure contact between
the wheels and operating surface. The Omnibot was built to modularly support many
systems, including a robot arm, without altering the mechanical design of the frame.
Two control modes were developed: local and global. Commands to drive the Omnibot
can be received from either a joystick that can be directly interfaced with the
controller or with commands that are sent from other systems that are either on or o
of the Omnibot. Both control modes require encoder feedback to ensure commanded
velocities are being executed as specified. Global control requires feedback from an
indoor localization system to determine the Omnibot's pose. Early implementation
of the localization system is discussed. An open source robotics software, known as
Robot Operating System (ROS) was selected for implementation of the Omnibot systems.
ROS serves as a middleware which allows components, such as the localization
system and remote desktop, to communicate with each other through a decoupled
messaging system. ROS is modular and
exible, allowing for easy adaptation of future
components. Test results of the Omnibot in operation are presented.
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Mordenti, Andrea. "Programming Robots with an Agent-Oriented BDI-based Control Architecture: Explorations using the JaCa and Webots Platforms." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2012. http://amslaurea.unibo.it/4803/.
Full textAbstract:
La crescente disponibilità di dispositivi meccanici e -soprattutto - elettronici le cui performance aumentano mentre il loro costo diminuisce, ha permesso al campo della robotica di compiere notevoli progressi. Tali progressi non sono stati fatti unicamente per ciò che riguarda la robotica per uso industriale, nelle catene di montaggio per esempio, ma anche per quella branca della robotica che comprende i robot autonomi domestici. Questi sistemi autonomi stanno diventando, per i suddetti motivi, sempre più pervasivi, ovvero sono immersi nello stesso ambiente nel quale vivono gli essere umani, e interagiscono con questi in maniera proattiva. Essi stanno compiendo quindi lo stesso percorso che hanno attraversato i personal computer all'incirca 30 anni fa, passando dall'essere costosi ed ingombranti mainframe a disposizione unicamente di enti di ricerca ed università, ad essere presenti all'interno di ogni abitazione, per un utilizzo non solo professionale ma anche di assistenza alle attività quotidiane o anche di intrattenimento. Per questi motivi la robotica è un campo dell'Information Technology che interessa sempre più tutti i tipi di programmatori software.
Questa tesi analizza per prima cosa gli aspetti salienti della programmazione di controllori per robot autonomi (ovvero senza essere guidati da un utente), quindi, come l'approccio basato su agenti sia appropriato per la programmazione di questi sistemi. In particolare si mostrerà come un approccio ad agenti, utilizzando il linguaggio di programmazione Jason e quindi l'architettura BDI, sia una scelta significativa, dal momento che il modello sottostante a questo tipo di linguaggio è basato sul ragionamento pratico degli esseri umani (Human Practical Reasoning) e quindi è adatto alla implementazione di sistemi che agiscono in maniera autonoma. Dato che le possibilità di utilizzare un vero e proprio sistema autonomo per poter testare i controllori sono ridotte, per motivi pratici, economici e temporali, mostreremo come è facile e performante arrivare in maniera rapida ad un primo prototipo del robot tramite l'utilizzo del simulatore commerciale Webots.
Il contributo portato da questa tesi include la possibilità di poter programmare un robot in maniera modulare e rapida per mezzo di poche linee di codice, in modo tale che l'aumento delle funzionalità di questo risulti un collo di bottiglia, come si verifica nella programmazione di questi sistemi tramite i classici linguaggi di programmazione imperativi.
L'organizzazione di questa tesi prevede un capitolo di background nel quale vengono riportare le basi della robotica, della sua programmazione e degli strumenti
atti allo scopo, un capitolo che riporta le nozioni di programmazione ad agenti, tramite il linguaggio Jason -quindi l'architettura BDI - e perché tale approccio è adatto alla programmazione di sistemi di controllo per la robotica. Successivamente viene presentata quella che è la struttura completa del nostro ambiente di lavoro software che comprende l'ambiente ad agenti e il simulatore, quindi nel successivo capitolo vengono mostrate quelle che sono le esplorazioni effettuate utilizzando Jason e un approccio classico (per mezzo di linguaggi classici), attraverso diversi casi di studio di crescente complessità; dopodiché, verrà effettuata una valutazione tra i due approcci analizzando i problemi e i vantaggi che comportano questi. Infine, la tesi terminerà con un capitolo di conclusioni e di riflessioni sulle possibili estensioni e lavori futuri.
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Day, Nathan McClain. "Tactile Sensing and Position Estimation Methods for Increased Proprioception of Soft-Robotic Platforms." BYU ScholarsArchive, 2018. https://scholarsarchive.byu.edu/etd/7004.
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Soft robots have the potential to transform the way robots interact with their environment. This is due to their low inertia and inherent ability to more safely interact with the world without damaging themselves or the people around them. However, existing sensing for soft robots has at least partially limited their ability to control interactions with their environment. Tactile sensors could enable soft robots to sense interaction, but most tactile sensors are made from rigid substrates and are not well suited to applications for soft robots that can deform. In addition, the benefit of being able to cheaply manufacture soft robots may be lost if the tactile sensors that cover them are expensive and their resolution does not scale well for manufacturability. Soft robots not only need to know their interaction forces due to contact with their environment, they also need to know where they are in Cartesian space. Because soft robots lack a rigid structure, traditional methods of joint estimation found in rigid robots cannot be employed on soft robotic platforms. This requires a different approach to soft robot pose estimation. This thesis will discuss both tactile force sensing and pose estimation methods for soft-robots. A method to make affordable, high-resolution, tactile sensor arrays (manufactured in rows and columns) that can be used for sensorizing soft robots and other soft bodies isReserved developed. However, the construction results in a sensor array that exhibits significant amounts of cross-talk when two taxels in the same row are compressed. Using the same fabric-based tactile sensor array construction design, two different methods for cross-talk compensation are presented. The first uses a mathematical model to calculate a change in resistance of each taxel directly. The second method introduces additional simple circuit components that enable us to isolate each taxel electrically and relate voltage to force directly. This thesis also discusses various approaches in soft robot pose estimation along with a method for characterizing sensors using machine learning. Particular emphasis is placed on the effectiveness of parameter-based learning versus parameter-free learning, in order to determine which method of machine learning is more appropriate and accurate for soft robot pose estimation. Various machine learning architectures, such as recursive neural networks and convolutional neural networks, are also tested to demonstrate the most effective architecture to use for characterizing soft-robot sensors.
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Monahan, Melissa A. "Scalability study for robotic hand platform /." Online version of thesis, 2010. http://hdl.handle.net/1850/12225.
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Burke, David Alexander. "A CONSERVATIVE APPROACH TO MOUNTING AND APPLYING AN OMNI-DIRECTIONAL VISION SYSTEM ONTO EVBOT II MOBILE ROBOT PLATFORMS, FOR USE IN ACCURATE FORMATION CONTROL." NCSU, 2007. http://www.lib.ncsu.edu/theses/available/etd-03212007-112713/.
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BURKE, DAVID ALEXANDER. A conservative approach to mounting and applying an omni-directional vision system onto EvBot II mobile robot platforms, for use in accurate formation control (Under the direction of Edward Grant). The research sensing capabilities of the EvBot II mobile robot platforms were increased and enhanced by the addition of the omni-directional camera. This, along with the associated machine vision capabilities maintained the conservative approach of the EvBot II philosophy, fiscal responsibility with computational optimality. The research increased the capabilities of the EvBot II platform by demonstrating that omni-directional vision processing could be performed relatively economically on a PC 104, while leaving as much processor time available as possible for running other programs.
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Fish, Jesse O. "Robotic Tour Guide Platform." Case Western Reserve University School of Graduate Studies / OhioLINK, 2013. http://rave.ohiolink.edu/etdc/view?acc_num=case1342039873.
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Daepp, Hannes Gorkin. "Development of a multi-platform simulation for a pneumatically-actuated quadruped robot." Thesis, Georgia Institute of Technology, 2011. http://hdl.handle.net/1853/45927.
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Successful development of mechatronic systems requires a combination of targeted hardware and software design. The compact rescue robot (CRR), a quadruped pneumatically-actuated walking robot that seeks to use the benefits garnered from pneumatic power, is a prime example of such a system. This thesis discusses the development and testing of a simulation that will aid in further design and development of the CRR by enabling users to examine the impacts of pneumatic actuation on a walking robot. However, development of an entirely new dynamic simulation specific to the system is not practical. Instead, the simulation combines a MATLAB/Simulink actuator simulation with a readily available C++ dynamics library. This multi-platform approach results in additional incurred challenges due to the transfer of data between the platforms. As a result, the system developed here is designed in the fashion that provides the best balance of realistic behavior, model integrity, and practicality. An analytically derived actuator model is developed using classical fluid circuit modeling together with nonlinear area and pressure curves to model the valve and a Stribeck-Tanh model to characterize the effects of friction on the cylinder. The valve model is designed in Simulink and validated on a single degree-of-freedom test rig. This actuator model is then interfaced with SrLib, a dynamics library that computes dynamics of the robot and interactions with the environment, and validated through comparisons with a CRR prototype. Conclusions are focused on the final composition of the simulation, its performance and limitations, and the benefits it offers to the system as a whole.
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Kandhari, Akhil. "Control and Analysis of Soft Body Locomotion on a Robotic Platform." Case Western Reserve University School of Graduate Studies / OhioLINK, 2020. http://rave.ohiolink.edu/etdc/view?acc_num=case1579793861351961.
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Poling, Dana B. "Spherically-actuated platform manipulator." Ohio : Ohio University, 2000. http://www.ohiolink.edu/etd/view.cgi?ohiou1172775949.
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Kul, Mustafa Cihangir. "Design, Development And Manufacturing Of An All Terrain Modular Robot Platform." Master's thesis, METU, 2010. http://etd.lib.metu.edu.tr/upload/3/12611858/index.pdf.
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The aim of this thesis is to create a flexible multi-purpose modular all terrain robot
platform, which has the potential to be used in commercial applications as well as in
education and research. In developing this robot platform, it is aimed to use readily
available commercial products as much as possible in order to keep the cost of the
product low, increase maintainability, and benefit from the improvements made to
these components in time. The modularity is attained by designing a two wheeled
base module which is autonomous on its own. This base module is composed of
two wheels where, the motors located inside these wheels. It is shown that the
proposed base module facilitates the configuration of various robots to suit the
needs of diverse applications. Detailed design and manufacturing of one of various
possible configurations is presented. Performance tests are conducted on this robot
configuration and effectiveness of the proposed modular approach is justified.
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Falcon, Lucas, and Viktor Hallbeck. "Robot Platform for Whiteboards." Thesis, KTH, Skolan för industriell teknik och management (ITM), 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-264478.
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The blackboard and whiteboard are common in schools globally. Many of them have interesting magnetic properties, which is not largely used. In this thesis, a study is conducted in which the possibility of navigating along a whiteboard, using its magnetic property, is examined. A robot was manufactured and tested to see the possibilities of operating a robot with multiple functions on the board. By utilizing an accelerometer and a distance sensor, the robot was capable of navigating the board without the risk of falling of. The completed robot has an integrated controller which allows adjustments to any desired angle and detection of the edge of the board.Svarta tavlan och whiteboard är vanligt förekommande i skolor over hela världen. Många av dem har den intressanta egenskapen att vara magnetisk, vilket inte utnyttjas i någon större grad. I den här avhandlingen gjordes en studie i att navigera med en robot på en tavla genom att utnyttja dess magnetiska egenskap. En robot tillverkades och testades för att se möjligheterna av att ha en Robot som skulle kunna utföra många olika uppgifter på tavlan. Genom utnyttjandet av en accelerometer och en distanssensor kunde roboten navigera på tavlan utan att riskera att trilla av. Den färdiga roboten har ett implementerat styrsystem för att kunna justera sig in till olika vinklar och även detektera kanten av tavlan.
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Marek, Martin. "Univerzální robotická platforma." Master's thesis, Vysoké učení technické v Brně. Fakulta informačních technologií, 2013. http://www.nusl.cz/ntk/nusl-236415.
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This work deals with the proposal of the universal robotic platform. The paper descibes a robotic competition for which is posible to use this platform. There is a list of basic sensors that are suitable for small robot competition. Of course there is a short description for each sensor. In the chapter of the draft prototype are described types of chasis. There is an explanation of use of the differential gear for this platform. The text also describes the development of the prototypes platfom and used data bus for comunication between the periferies and the MCU.
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Viñas, Arcas David. "Multi sensor modular platform for robots." Thesis, Högskolan i Gävle, Avdelningen för elektronik, matematik och naturvetenskap, 1988. http://urn.kb.se/resolve?urn=urn:nbn:se:hig:diva-9754.
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This project is about to create a multi sensor modular platform for robots. That means a platform created with several sensors, actuators and chips that had to be useful for future robot practice or projects. As this project is a platform for future thesis, is required to use standard programming language, creating the control of the sensors so that it could be easily used by other students in the future, although they did not know the inner working of programs in particular. Although this platform can be used for multiple applications, this thesis give special attention on a future project that the mainly purpose is create a robot capable of follow scents, or what is the same, different concentrations of gas. Thus, although the programs that we had to create could be used for various purposes, are specially done thinking of the future use for the creation of this robot tracker of smells. So the main task of this project is to investigate and see how each of the sensors and actuators of our robot works and, in the other hand, learn to program a chip set not only to make it able to receive information from these sensors and send information to the actuators, but create some laws to control our multi sensor modular platform for robots to perform tasks from the acquired information. Basically our robot is able to follow the direction that we want, with a close control loop in the direction using the information acquired from a three axis accelerometer, which allows too knowing the acceleration and consequently velocity and position of our robot. Also the robot is equipped with ultra sound sensors allowing detecting and avoiding obstacles. The smell sensor is implemented for the next versions of this robot.
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Nyzen, Ronald A. "Spherically-actuated platform manipulator with passive prismatic joints." Ohio : Ohio University, 2002. http://www.ohiolink.edu/etd/view.cgi?ohiou1174930163.
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Šumšal, Zdeněk. "Návrh výsuvné manipulační platformy mobilního robotu." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2017. http://www.nusl.cz/ntk/nusl-318529.
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This thesis is about the design of the telescopic platform. which should be fasten on robot called Breach. Purpose of this platform is to carry another equipment like sensors, cameras or manipulator. The platform has to provide chiefly the high demands on load capacity. Another part of the thesis is design of mechanism placed on this telescopic platform, or just on the robot Breach. This mechanism has to load up small subject on the top part of the platform and then unload it on chosen place. Only thing defined for this subjekt is maximal weight of 2 kilograms, but other parameters aren´t specified. Construction is therefore focused on maximal versatility of this mechanism.
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Lindström, Mattias, and Fredrik Persson. "The Memec Hexapod Robot : a demonstration platform." Thesis, Uppsala universitet, Institutionen för teknikvetenskaper, 2010. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-132345.
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This thesis shows how to replace a microcontroller unit (MCU) on a six legged robot,involving adapting hardware and developing software. The robot is based on themechanics from Lynxmotion’s Phoenix Hexapod Robot, which is a mechanical vehiclewith 6 legs and 18 servos. The robot is controlled by two controller boards, whichwith available software can run pre-made movement sequences or be controlled by aPlaystation2 hand controller. One of the controller boards needs to be replaced byanother more powerful MCU from another manufacturer. The new MCU comesfrom Avnet-Memec, which is a major semiconductor components distributor. Theywant to use the Hexapod Robot as a platform for demonstrating the capabilities ofthe franchises on their line card to attract potential customer's interest andawareness. The original Basic Atom Pro 28 MCU needs for that purpose to bereplaced with hardware from an Avnet-Memec franchise. Avnet-Memec has decidedto use the circuit board MBS270 from Mobisense Systems based on theARM-processor Marvel PXA270 running Embedded Linux operating system. Theproject was successful and resulted in a Phoenix Hexapod Robot with a new morepowerful and versatile MCU from an Avnet-Memec franchise. The robot can runpre-made movement sequences as with the old MCU, but now with a much morepowerful processor with support for features like wifi, video acquisition and muchmore. The robot was shown by Avnet-Memec at the Scandinavian Electronics Eventfair 2010 in Älvsjö, Stockholm, Sweden, and was appreciated among visitors and otherexhibitors.
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Liu, Ran. "A location-guided mobile robot control platform /." View abstract or full-text, 2005. http://library.ust.hk/cgi/db/thesis.pl?COMP%202005%20LIUR.
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Baer, Philipp A. "Platform independent development of robot communication software." Kassel Kassel Univ. Press, 2008. http://d-nb.info/993215785/34.
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KHAN, FAHAD AHMAD. "Developing Robot assisted Plastic 3D Printing Platform." Thesis, KTH, Skolan för industriell teknik och management (ITM), 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-295472.
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This project was initiated by Dr. Sasan Dadbaksh upon listening to the requirements I presented for my master thesis. My requirements were to do a master thesis project in the field of additive manufacturing specifically fused deposition modeling that should not only involve the research work but should also present an opportunity to develop hardware and should involve experimental testing. Then Sasan came up with the idea of developing a system capable to perform 3D printing with the extruder fixed in one position and the motion required for 3D printing will be provided by the robotic arm. The title of developing green build strategies for robot assisted plastic 3D printing came into being. The main concept behind the title of developing robot assisted plastic 3D printing platform is to develop such a system that can offer additive manufacturing services, specifically of fused deposition modeling 3D printing, as an inbound process during the manufacturing of any part through subtractive processes with the help of a robotic arm along with the repair of any kind of parts with the assistance of fused deposition modeling 3D printing. The main objectives of the master thesis include building a stationary filament extrusion module to interact with a robot hand and establishing a strategy for a robot hand to move the part to appropriate locations to complete building a part on a preform without support structures. The targets that were achieved with the completion of this thesis project includes the development of the complete hardware that consists of a mechanical structure with the option of mounting the components required to run the extrusion setup, learning the basic working of the software that are able to simulate the 3D printing process with the robotic arm (Robot Studio and Robo DK), creation of the simulation of the whole process, achieving communication between the robotic arm and the microcontroller of the extruder and finally the printing of a simple part for the demonstration. The components needed to be installed on the structure includes the motor, extruder, hot end, nozzle, filament. The structure also accumulated the required electronics that includes power supply, microcontroller, and an LCD to monitor the extrusion parameters. The developed machine runs on the state-of-the-art components that belong to the few of the best manufacturers of the technology.
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Sárközy, Imrich. "Řídicí systém pro malý mobilní robot." Master's thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2011. http://www.nusl.cz/ntk/nusl-218866.
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The aim of this work was to design a control system based on the XMega microcontroller, for a small mobile robot with an tracked undercarriage. At first, my work was to develop an electrical scheme and circuit boards for the control system. The next step was to connect sensors for non electric quantity and modify the control algorithms for a simple navigation. In the last phase I tuned the user interface and the whole control system for minimal data flow between the mobile platform and the user interface.
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Biddlestone, Scott Richard. "Collaborative Motion for Mobile Platforms." The Ohio State University, 2013. http://rave.ohiolink.edu/etdc/view?acc_num=osu1357227236.
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Malik, Akhtar Nawaz. "The design of spatial parallel platform-type mechanisms." Thesis, University of Salford, 1992. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.305883.
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Cope, Brian Alexander. "Robotic Platform for Internal Inspection." Thesis, Virginia Tech, 2013. http://hdl.handle.net/10919/19268.
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This thesis describes the design of a robotic inspection tool which is based on a differential track-drive platform. The robotic inspection tool is a one man-portable UGV that has been developed for the purpose of non-destructive evaluation (NDE) and internal inspection of environments where human penetration may be difficult or hazardous. Various NDE and sensing techniques are described in this paper but the focus is on the mechanical and electrical design of the platform itself. The platform is a versatile device for mobile robotics research and development that supports a wide variety of instrumentation and payloads. Variable height control of the payload is achieved with a scissor lift assembly that provides accurate positioning of equipped sensors and instrumentation. The architecture of the platform was designed to support future autonomous implementations.Master of Science
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McCoig, Kenneth. "A MOBILE ROBOTIC COMPUTING PLATFORM FOR THREE-DIMENSIONAL INDOOR MAPPI." Master's thesis, University of Central Florida, 2004. http://digital.library.ucf.edu/cdm/ref/collection/ETD/id/2372.
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There are several industries exploring solutions to quickly and accurately digitize unexplored indoor environments, into useable three-dimensional databases. Unfortunately, there are inherent challenges to the indoor mapping process such as, scanning limitations and environment complexity, which require a specific application of tools to map an environment precisely with low cost and high speed. This thesis successfully demonstrates the design and implementation of a low cost mobile robotic computing platform with laser scanner, for quickly mapping with high resolution, urban and/or indoor environments using a gyro-enhanced orientation sensor and selectable levels of detail. In addition, a low cost alternative solution to three-dimensional laser scanning is presented, via a standard two-dimensional SICK proximity laser scanner mounted to a custom servo motor mount and controlled by external microcontroller. A software system to control the robot is presented, which incorporates and adheres to widely accepted software engineering guidelines and principles. An analysis of the overall system, including robot specifications, system capabilities, and justification for certain design decisions, are described in detail. Results of various open source software algorithms, as it applies to scan data and image data, are also compared; including evaluation of data correlation and registration techniques. In addition, laser scanner mapping tests, specifications, and capabilities are presented and analyzed. A sample design for converting the final scanned point cloud data to a database is presented and assessed. The results suggest the overall project yields a relatively high degree of accuracy and lower cost over most other existing systems surveyed, as well as, the potential for application of the system in other fields. The results also discuss thoughts for possible future research work.M.S.Cp.E.
Department of Electrical and Computer Engineering
Engineering and Computer Science
Computer Engineering
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Krüger, Daniel. "Porting the MIRO Middleware to a Mobile Robot Platform." Master's thesis, Universitätsbibliothek Chemnitz, 2005. http://nbn-resolving.de/urn:nbn:de:swb:ch1-200500986.
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Mobile autonomous robotics in outdoor areas is a challenging task. This domain
combines many fields like computer science and electrical engineering.
This diploma thesis will show how Miro (Middleware for Robots) has been ported to a new mobile robot platform developed at the Institute for Automation at Chemnitz University of Technology.
Additionally, security aspects will be covered, that arise because CORBA is used as middleware, which is an open standard and by default implements no communication security between server and client.
Three approaches to solve this problem will be discussed.
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Hernansanz, Prats Albert. "Multi-robot cooperative platform : a task-oriented teleoperation paradigm." Doctoral thesis, Universitat Politècnica de Catalunya, 2016. http://hdl.handle.net/10803/393921.
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This thesis proposes the study and development of a teleoperation system based on multi-robot cooperation under the task oriented teleoperation paradigm: Multi-Robot Cooperative Paradigm, MRCP.
In standard teleoperation, the operator uses the master devices to control the remote slave robot arms. These arms reproduce the desired movements and perform the task. With the developed work, the operator can virtually manipulate an object. MRCP automatically generates the arms orders to perform the task. The operator does not have to solve situations arising from possible restrictions that the slave arms may have.
The research carried out is therefore aimed at improving the accuracy teleoperation tasks in complex environments, particularly in the field of robot assisted minimally invasive surgery. This field requires patient safety and the workspace entails many restrictions to teleoperation.
MRCP can be defined as a platform composed of several robots that cooperate automatically to perform a teleoperated task, creating a robotic system with increased capacity (workspace volume, accessibility, dexterity ...). The cooperation is based on transferring the task between robots when necessary to enable a smooth task execution. The MRCP control evaluates the suitability of each robot to continue with the ongoing task and the optimal time to execute a task transfer between the current selected robot and the best candidate to continue with the task.
From the operator¿s point of view, MRCP provides an interface that enables the teleoperation though the task-oriented paradigm: operator orders are translated into task actions instead of robot orders.
This thesis is structured as follows:
The first part is dedicated to review the current solutions in the teleoperation of complex tasks and compare them with those proposed in this research.
The second part of the thesis presents and reviews in depth the different evaluation criteria to determine the suitability of each robot to continue with the execution of a task, considering the configuration of the robots and emphasizing the criterion of dexterity and manipulability. The study reviews the different required control algorithms to enable the task oriented telemanipulation. This proposed teleoperation paradigm is transparent to the operator.
Then, the Thesis presents and analyses several experimental results using MRCP in the field of minimally invasive surgery. These experiments study the effectiveness of MRCP in various tasks requiring the cooperation of two hands. A type task is used: a suture using minimally invasive surgery technique. The analysis is done in terms of execution time, economy of movement, quality and patient safety (potential damage produced by undesired interaction between the tools and the vital tissues of the patient).
The final part of the thesis proposes the implementation of different virtual aids and restrictions (guided teleoperation based on haptic visual and audio feedback, protection of restricted workspace regions, etc.) using the task oriented teleoperation paradigm. A framework is defined for implementing and applying a basic set of virtual aids and constraints within the framework of a virtual simulator for laparoscopic abdominal surgery. The set of experiments have allowed to validate the developed work. The study revealed the influence of virtual aids in the learning process of laparoscopic techniques. It has also demonstrated the improvement of learning curves, which paves the way for its implementation as a methodology for training new surgeons.Aquesta tesi doctoral proposa l'estudi i desenvolupament d'un sistema de teleoperació basat en la cooperació multi-robot sota el paradigma de la teleoperació orientada a tasca: Multi-Robot Cooperative Paradigm, MRCP. En la teleoperació clàssica, l'operador utilitza els telecomandaments perquè els braços robots reprodueixin els seus moviments i es realitzi la tasca desitjada. Amb el treball realitzat, l'operador pot manipular virtualment un objecte i és mitjançant el MRCP que s'adjudica a cada braç les ordres necessàries per realitzar la tasca, sense que l'operador hagi de resoldre les situacions derivades de possibles restriccions que puguin tenir els braços executors. La recerca desenvolupada està doncs orientada a millorar la teleoperació en tasques de precisió en entorns complexos i, en particular, en el camp de la cirurgia mínimament invasiva assistida per robots. Aquest camp imposa condicions de seguretat del pacient i l'espai de treball comporta moltes restriccions a la teleoperació. MRCP es pot definir com a una plataforma formada per diversos robots que cooperen de forma automàtica per dur a terme una tasca teleoperada, generant un sistema robòtic amb capacitats augmentades (volums de treball, accessibilitat, destresa,...). La cooperació es basa en transferir la tasca entre robots a partir de determinar quin és aquell que és més adequat per continuar amb la seva execució i el moment òptim per realitzar la transferència de la tasca entre el robot actiu i el millor candidat a continuar-la. Des del punt de vista de l'operari, MRCP ofereix una interfície de teleoperació que permet la realització de la teleoperació mitjançant el paradigma d'ordres orientades a la tasca: les ordres es tradueixen en accions sobre la tasca en comptes d'estar dirigides als robots. Aquesta tesi està estructurada de la següent manera: Primerament es fa una revisió de l'estat actual de les diverses solucions desenvolupades actualment en el camp de la teleoperació de tasques complexes, comparant-les amb les proposades en aquest treball de recerca. En el segon bloc de la tesi es presenten i s'analitzen a fons els diversos criteris per determinar la capacitat de cada robot per continuar l'execució d'una tasca, segons la configuració del conjunt de robots i fent especial èmfasi en el criteri de destresa i manipulabilitat. Seguint aquest estudi, es presenten els diferents processos de control emprats per tal d'assolir la telemanipulació orientada a tasca de forma transparent a l'operari. Seguidament es presenten diversos resultats experimentals aplicant MRCP al camp de la cirurgia mínimament invasiva. En aquests experiments s'estudia l'eficàcia de MRCP en diverses tasques que requereixen de la cooperació de dues mans. S'ha escollit una tasca tipus: sutura amb tècnica de cirurgia mínimament invasiva. L'anàlisi es fa en termes de temps d'execució, economia de moviment, qualitat i seguretat del pacient (potencials danys causats per la interacció no desitjada entre les eines i els teixits vitals del pacient). Finalment s'ha estudiat l'ús de diferents ajudes i restriccions virtuals (guiat de la teleoperació via retorn hàptic, visual o auditiu, protecció de regions de l'espai de treball, etc) dins el paradigma de teleoperació orientada a tasca. S'ha definint un marc d'aplicació base i implementant un conjunt de restriccions virtuals dins el marc d'un simulador de cirurgia laparoscòpia abdominal. El conjunt d'experiments realitzats han permès validar el treball realitzat. Aquest estudi ha permès determinar la influencia de les ajudes virtuals en el procés d'aprenentatge de les tècniques laparoscòpiques. S'ha evidenciat una millora en les corbes d'aprenentatge i obre el camí a la seva implantació com a metodologia d'entrenament de nous cirurgians.
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Nahari, Ammar Jamal. "Creating a Data Acquisition Platform for Robot Skill Training." Case Western Reserve University School of Graduate Studies / OhioLINK, 2019. http://rave.ohiolink.edu/etdc/view?acc_num=case153260922930446.
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Zhao, Sheng. "Multi-robot Cooperative Control:From Theory to Practice." University of Cincinnati / OhioLINK, 2010. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1277134727.
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Yi, Yong. "Fault tolerant N-DOF Gough-Stewart platforms kinematics, dynamics, and design /." Laramie, Wyo. : University of Wyoming, 2005. http://proquest.umi.com/pqdweb?did=888857891&sid=1&Fmt=2&clientId=18949&RQT=309&VName=PQD.
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Houda, Taha. "Human Interaction in a large workspace parallel robot platform with a virtual environment." Electronic Thesis or Diss., université Paris-Saclay, 2020. http://www.theses.fr/2020UPASG047.
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L'objectif de la thèse porte sur la définition, la mise oeuvre et l'évaluation d'un algorithme de restitution de mouvement prenant en compte les contraintes de perception du système vestibulaire chez l'humain et les contraintes liées à la physique du simulateur de mouvement utilisé. Ce dernier est constitué par une plateforme robotique série-parallèle à 8 degrés de liberté entièrement conçue dans le laboratoire et destinée principalement à l'assistance aux personnes présentant un handicap moteur. Cette restitution sensorielle nécessite des travaux de recherches pluridisciplinaires en robotique et en réalité virtuelle. Aussi, une formalisation de la modélisation dynamique, basée sur l'état de l'art, a été adaptée et les paramètres dynamiques optimisés et identifés à la plateforme de mouvement à 8 degrés de libertés. Plusieurs méthodes de génération de mouvement, gérant la redondance de la plateforme, ont été étudiées mises en oeuvre et comparées. La méthode basée sur l'optimisation par essaims particulaires (PSO) plus performante a été retenue. Cet algorithme est par la suite utilisé pour optimiser les paramètres du contrôleur de la plateforme par mode glissant.Le simulateur a été utilisé pour une application de ski en réalité virtuelle reproduisant la station de Combloux en Haute-Savoie dédiée aux personnes handicapées. Les résultats de simulation montrent un très bon suivi des consignes et une bonne réduction des oscillations. Ces travaux seront poursuivis par l'utilisation d'interfaces multi sensorielles de réalité virtuelle d'assistance à l'humainThe thesis objective relates to the denition, the implementation and the evaluation of a Motion Cueing Algorithm taking into account the perceptual constraints of the vestibular systemin humans and the constraints related to the movement physics of the used simulator. The latter consists of a series-parallel robotic platform with 8 degrees of freedom, entirely designed in the laboratory and intended primarily to assist people with motor disabilities. This sensory restitution requires multidisciplinary research work in robotics and virtual reality. Moreover, a formalization of dynamic modeling, based on the state of the art, was adapted and the dynamic parameters optimized and identied for the 8 degrees of freedom motion platform. Several methods of trajectory generation, exploitation of the platform redundancy, have been studied, implemented,and compared. The most e cient particle swarm optimization (PSO) method was chosen. This algorithm is then used to optimize the parameters of the platform controller in sliding mode. The simulator was used for a virtual reality ski application reproducing the Combloux resort in Haute-Savoie dedicated to disabled people. The simulation results show a very good trajectory tracking behavior and a good reduction in terms of oscillations. This work will be continued through the use of multi-sensory human-assisted virtual reality interfaces
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Huynh, Du Quan. "Feature-based stereo vision on a mobile platform." University of Western Australia. Dept. of Computer Science, 1994. http://theses.library.uwa.edu.au/adt-WU2003.0001.
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It is commonly known that stereopsis is the primary way for humans to perceive depth. Although, with one eye, we can still interact very well with our environment and do very highly skillful tasks by using other visual cues such as occlusion and motion, the resultant e ect of the absence of stereopsis is that the relative depth information between objects is essentially lost (Frisby,1979). While humans fuse the images seen by the left and right eyes in a seemingly easy way, the major problem - the correspondence of features - that needs to be solved in all binocular stereo systems of machine vision is not trivial. In this thesis, line segments and corners are chosen to be the features to be matched because they typically occur at object boundaries, surface discontinuities, and across surface markings. Polygonal regions are also selected since they are known to be well-configured and are, very often, associated with salient structures in the image. The use of these high level features, although helping to diminish matching ambiguities, does not completely resolve the matching problem when the scene contains repetitive structures. The spatial relationships between the feature matching pairs enforced in the stereo matching process, as proposed in this thesis, are found to provide even stronger support for correct feature matching pairs and, as a result, incorrect matching pairs can be largely eliminated. Getting global and salient 3D structures has been an important prerequisite for environmental modelling and understanding. While research on postprocessing the 3D information obtained from stereo has been attempted (Ayache and Faugeras, 1991), the strategy presented in this thesis for retrieving salient 3D descriptions is propagating the prominent information extracted from the 2D images to the 3D scene. Thus, the matching of two prominent 2D polygonal regions yields a prominent 3D region, and the inter-relation between two 2D region matching pairs is passed on and taken as a relationship between two 3D regions. Humans, when observing and interacting with the environment do not confine themselves to the observation and then the analysis of a single image. Similarly stereopsis can be vastly improved with the introduction of additional stereo image pairs. Eye, head, and body movements provide essential mobility for an active change of viewpoints, the disocclusion of occluded objects, the avoidance of obstacles, and the performance of any necessary tasks on hand. This thesis presents a mobile stereo vision system that has its eye movements provided by a binocular head support and stepper motors, and its body movements provided by a mobile platform, the Labmate. With a viewer centred coordinate system proposed in this thesis the computation of the 3D information observed at each individual viewpoint, the merging of the 3D in formation at consecutive viewpoints for environmental reconstruction, and strategies for movement control are discussed in detail.
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Bayar, Gokhan. "Configurable Robot Base Design For Mixed Terrain Applications." Master's thesis, METU, 2005. http://etd.lib.metu.edu.tr/upload/2/12606530/index.pdf.
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Mobile robotics has become a rapidly developing field of interdisciplinary research within robotics. This promising field has attracted the attention of academicy, industry, several government agencies. Currently from security to personal service mobile robots are being used in a variety of tasks. The use of such robots is expected to only increase in the near future.
In this study, it is aimed to design and manufacture a versatile robot base. This base is aimed to be the main driving unit for various applications performed both indoors and outdoors ranging from personal service and assistance to military applications. The study does not attempt to individually address any specific application, indeed it is aimed to shape up a robotic module that can be used in a wide range of application on different terrain with proper modification. The robot base is specifically designed for mixed terrain applications, yet this study attempts to provide some guidelines to help robot designers. The manufactured robot base is tested with tracks, wheels, and with both tracks and wheels, results are provided as guidelines to robot designers. Last but no the least, this study aims to obtain the know-how of building functional and flexible robots in Turkey by facilitating local resources as much as possible.
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Levesque, Sally-Ann. "Omnidirectional robotic platform : the control of an omnidirectional robotic platform for use in robot soccer." Master's thesis, University of Cape Town, 2008. http://hdl.handle.net/11427/5518.
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Includes abstract.Includes bibliographical references.
The University of Cape Town competes in a national robot soccer competition. Teams of five small robots compete in the game of soccer without any human intervention. The robots are controlled by the artificial intelligence on a host computer connected to an overhead imaging system. The host computer controls the robots by sending them instructions via wireless communications. The robot soccer platform calls for the integration of electronic, mechanical and computer technologies and provides an exciting area for research. UCT first competed in the robot soccer competition in 2003, using differential drive robots designed by Graeme McPhillips. Research has shown that in the international robot soccer competition, teams are replacing their differential drive robots with omnidirectional robots – robots which can move in any direction without first changing their orientation to face the direction of motion. These robots have proved to be highly manoeuvrable and the winning teams in the small robot league are consistently those that use omnidirectional robots. In 2004, Craig Inman-Bamber designed and implemented UCT’s first omnidirectional robot platform. It is this platform that this dissertation is concerned with controlling. Electronic components were designed and implemented and software code written to control the robot in an omnidirectional manner.
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Světlík, Miroslav. "Využití platformy Eyebot pro řízení mobilních robotů." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2008. http://www.nusl.cz/ntk/nusl-228083.
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This diploma thesis focuses on the Eyebot mobile robot control platform utilization. The aim of this thesis is to become familiar with the characteristics and programming of the Eyebot platform, and to test the attributes and performance of its system. This piece deals more with the Eyebot control unit and PC communication via Bluetooth wireless technology, than with utilizing the experimental four-legged walking robot communication platform. All draft algorithms for the Eyebot control unit have been drafted in C language and the communication and GUI PC control algorithms have been implemented in the Matlab 2008A program environment.
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Baer, Philipp A. [Verfasser]. "Platform independent development of robot communication software / Philipp A. Baer." Kassel : Kassel Univ. Press, 2008. http://d-nb.info/993215785/34.
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Poschmann, Peter. "Multi-sensor multi-person tracking on a mobile robot platform." Doctoral thesis, Technische Universitaet Bergakademie Freiberg Universitaetsbibliothek "Georgius Agricola", 2018. http://nbn-resolving.de/urn:nbn:de:bsz:105-qucosa-235210.
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Service robots need to be aware of persons in their vicinity in order to interact with them. People tracking enables the robot to perceive persons by fusing the information of several sensors. Most robots rely on laser range scanners and RGB cameras for this task. The thesis focuses on the detection and tracking of heads. This allows the robot to establish eye contact, which makes interactions feel more natural.
Developing a fast and reliable pose-invariant head detector is challenging. The head detector that is proposed in this thesis works well on frontal heads, but is not fully pose-invariant. This thesis further explores adaptive tracking to keep track of heads that do not face the robot. Finally, head detector and adaptive tracker are combined within a new people tracking framework and experiments show its effectiveness compared to a state-of-the-art system.
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Qiu, Yesiliang. "Autonomous Tick Collection Robot: Platform Development and Driving System Control." University of Cincinnati / OhioLINK, 2020. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1613752543210849.
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Noonan, David. "A flexible access platform for robot-assisted minimally invasive surgery." Thesis, Imperial College London, 2011. http://hdl.handle.net/10044/1/9113.
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Advances in Minimally Invasive Surgery (MIS) are driven by the clinical demand to reduce the invasiveness of surgical procedures so patients undergo less trauma and experience faster recoveries. These well documented benefits of MIS have been achieved through parallel advances in the technology and instrumentation used during procedures. The new and evolving field of Flexible Access Surgery (FAS), where surgeons access the operative site through a single incision or a natural orifice incision, is being promoted as the next potential step in the evolution of surgery. In order to achieve similar levels of success and adoption as MIS, technology again has its role to play in developing new instruments to solve the unmet clinical challenges of FAS. As procedures become less invasive, these instruments should not just address the challenges presented by the complex access routes of FAS, but should also build on the recent advances in pre- and intraoperative imaging techniques to provide surgeons with new diagnostic and interventional decision making capabilities. The main focus of this thesis is the development and applications of a flexible robotic device that is capable of providing controlled flexibility along curved pathways inside the body. The principal component of the device is its modular mechatronic joint design which utilises an embedded micromotor-tendon actuation scheme to provide independently addressable degrees of freedom and three internal working channels. Connecting multiple modules together allows a seven degree-of-freedom (DoF) flexible access platform to be constructed. The platform is intended for use as a research test-bed to explore engineering and surgical challenges of FAS. Navigation of the platform is realised using a handheld controller optimised for functionality and ergonomics, or in a "hands-free" manner via a gaze contingent control framework. Under this framework, the operator's gaze fixation point is used as feedback to close the servo control loop. The feasibility and potential of integrating multi-spectral imaging capabilities into flexible robotic devices is also demonstrated. A force adaptive servoing mechanism is developed to simplify the deployment, and improve the consistency of probe-based optical imaging techniques by automatically controlling the contact force between the probe tip and target tissue. The thesis concludes with the description of two FAS case studies performed with the platform during in-vivo porcine experiments. These studies demonstrate the ability of the platform to perform large area explorations within the peritoneal cavity and to provide a stable base for the deployment of interventional instruments and imaging probes.
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Bekhit, Amr. "Parallel platform-based robot for operation in active water pipes." Thesis, University of Leeds, 2015. http://etheses.whiterose.ac.uk/12674/.
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This thesis presents a novel design for a pipe inspection robot. The main aim of the design has been to allow the robot to operate in a water pipe while it is still in service. Water pipes form a very crucial part of the infrastructure of the world we live in today. Despite their importance, water leakage is a major problem suffered by water companies worldwide, costing them billions of dollars every year. There are a wide variety of different techniques used for leak detection and localisation, but no one method is capable of accurately pinpointing the leak location and severity in all pipe conditions with minimal labour. A survey of existing pipe inspection robots showed that there have been many designs implemented that are capable of navigating the pipeline environment. However, none of these were capable of fully autonomous control in a live water pipe. It was concluded that an autonomous pipe inspection robot capable of working in active pipelines would be of great industrial benefit as it would be able to carry a wide range of sensors directly to the source of the leak with minimal, if any, human intervention. An inchworm robot prototype was constructed based on a Gough-Stewart parallel platform. The robot’s inverse kinematics equations were derived and a simulation model of the robot was constructed. These were verified using a motion capture suite, confirming that they are valid representations of the robot. The simulation was used to determine the robot’s movement limitations and minimum bend radius it could navigate. Several CFD simulations were carried out in order to estimate the maximum fluid force exerted on the robot. It was found that the robot’s design successfully minimised the fluid force such that off-the-shelf actuators had the capability to overcome it. The prototype was successfully tested in both a straight and bent pipe, demonstrating its ability to navigate a dry pipe environment. Overall, the robot prototype served as a successful proof of concept for a design of pipe inspection robot that would be capable of operating in active pipelines.
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Toscano, Robert Lopez. "Building a semi-autonomous sociable robot platform for robust interpersonal telecommunication." Thesis, Massachusetts Institute of Technology, 2008. http://hdl.handle.net/1721.1/46522.
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Thesis (M. Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2008.Includes bibliographical references (p. 73-74).
This thesis presents the design of a software platform for the Huggable project. The Huggable is a new kind of robotic companion being developed at the MIT Media Lab for health care, education, entertainment and social communication applications. This work focuses on the social communication application as it pertains to using a semi-autonomous robotic avatar in a remote environment. The software platform consists of an extensible and robust distributed software system that connects a remote human puppeteer to the Huggable robot via internet. The paper discusses design decisions made in building the software platform and describes the technologies created for the social communication application. An informal trial of the system reveals how the system's puppeteering interface can be improved, and pinpoints where performance enhancements are needed for this particular application.
by Robert Lopez Toscano.
M.Eng.
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Bisland, Keion. "Development of an Open Source Quadrupedal Robot Platform for Education: SmallKat." Digital WPI, 2020. https://digitalcommons.wpi.edu/etd-theses/1358.
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In the field of robotics, quadrupedal robotics is a rapidly growing segment. Despite the large number of robotic quadrupeds developed so far, there is currently no platform specifically developed for use in an educational setting. Currently available quadrupeds have several aspects that restrict them to use only in the research labs that developed them, preventing them from being available for use in undergraduate-level classes. This constraint limits the number of people able to gain experience with these highly complex platforms. To enable further development into the field of quadruped robotics, more engineers with in-depth experience with these platforms and the knowledge required to develop and operate them are needed. In this thesis we present the SmallKat platform which strives to fill this space and allow for further development into the fields of dynamic quadruped robotics without the fear of damaging an expensive robot. This thesis proposes a robot designed specifically for the purpose of teaching multiple robotics concepts including kinematics, control, dynamics, trajectory planning, and gait generation. Like many other quadrupedal robots, SmallKat uses 3-DoF legs allowing for coordinated motion in all 3 axes. The size, modularity, cost, and capabilities of the platform are what suit it to teach at a variety of levels. With the integrated sensing and safety features, this platform lends itself to the development of an undergraduate robotics course on quadruped robots, a sample of which is discussed in this thesis. Through the distribution of the SmallKat robot to more schools and universities, the robotics curriculum offered by these universities could be expanded further to offer courses at the undergraduate level in legged robotics.
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Peterson, Trent R. "Design and Implementation of Stewart Platform Robot for Robotics Course Laboratory." DigitalCommons@CalPoly, 2020. https://digitalcommons.calpoly.edu/theses/2124.
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A Stewart Platform robot was designed, constructed, and programmed for use in Cal Poly’s ME 423 Robotics: Fundamentals and Applications laboratory section. A Stewart Platform is a parallel manipulator robot with six prismatic joints that has six degrees of freedom, able to be defined in both position and orientation. Its purpose is to supplement parallel robot material covered in lecture. Learning objectives include applying and verifying the Stewart Platform inverse kinematics and investigating the Stewart Platform’s operation, range of motion, and limitations. The Stewart Platform geometry and inverse kinematics were modeled and animated using MATLAB. The platform was then built using linear actuators, magnetic spherical bearings, and acrylic plates. Control of the Stewart Platform is achieved using an Arduino Due and a custom HexaMoto shield. Users interact with the system using a GUI created with MATLAB’s App Designer.
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Siddiqui, Abujawad Rafid. "A Vision and Differential Steering System for a Mobile Robot Platform." Thesis, Blekinge Tekniska Högskola, Sektionen för datavetenskap och kommunikation, 2010. http://urn.kb.se/resolve?urn=urn:nbn:se:bth-3040.
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Context: Effective vision processing is an important study area for mobile robots which use vision to detect objects. The problem of detecting small sized coloured objects (e.g. Lego bricks) with no texture information can be solved using either colour or contours of the objects. The shape of such objects doesn‟t help much in detecting the objects due to the poor quality of the picture and small size of the object in the image. In such cases it is seen that the use of hybrid techniques can benefit the overall detection of objects, especially, combining keypoint based methods with the colour based techniques. Robotic motion also plays a vital role in the completion of autonomous tasks. Mobile robots have different configurations for locomotion. The most important system is differential steering because of its application in sensitive areas like military tanks and security robot platforms. The kinematic design of a robotic platform is usually based on the number of wheels and their movement. There can be several configurations of wheels designs, for example differential drives, car-like designs, omni-directional, and synchro drives. Differential drive systems use speed on individual channels to determine the combined speed and trajectory of the robot. Accurate movement of the robot is very important for correct completion of its activities. Objectives: A vision solution is developed that is capable of detecting small sized colour objects in the environment. This has also been compared with other shape detection techniques for performance evaluation. The effect of distance on detection is also investigated for the participating techniques. The precise motion of a four-wheel differential drive system is investigated. The target robot platform uses a differential drive steering system and the main focus of this study is accurate position and orientation control based upon sensor data. Methods: For object detection, a novel hybrid method „HistSURF‟ is proposed and is compared with other vision processing techniques. This method combines the results of colour histogram comparison and detection by the SURF algorithm. A solution for differential steering using a Gyro for the rotational speed measurement is compared with a solution using a speed model and control outputs without feedback (i.e. dead reckoning). Results: The results from the vision experiment rank the new proposed method highest among the other participating techniques. The distance experiment indicates that there is a direct and inverse relation between the distance and detected SURF features. It is also indicated by the results that distance affects the detection rate of the new proposed technique. In case of robot control, the differential drive solution using a speed model has less error rate than the one that uses a Gyro for angle measurement. It is also clear from the results that the greater the difference of speeds among the channels the less smooth is the angular movement. Conclusions: The results indicate that by combining a key-point based technique with colour segmentation, the false positive rate can be reduced and hence object recognition performance improves . It has also become clear that the improved accuracy of the proposed technique is limited to small distances and its performance decreases rapidly with increase in the distance to target objects. For robot control, the results indicate that a Gyro alone cannot improve the movement accuracy of the robotic system due to a variable drift exhibited by the Gyro while in rotation. However, a Gyro can be effective if used in combination with a magnetometer and some form of estimation mechanism like a Kalman filter. A Kalman filter can be used to correct the error in the Gyro by using the output from the magnetometer, resulting in a good estimate.Bakgrund: Effektiv vision behandling är ett viktigt studieområde för mobila robotar som använder vision att upptäcka föremål. Problemet upptäcka små och medelstora färgade föremål (t.ex. Lego tegelstenar) utan konsistens information kan lösas med färg eller konturer av föremålen. Formen på sådana föremål spelar ingen hjälpa mycket att upptäcka föremål på grund av den dåliga kvaliteten på bild och ringa storlek på objektet i bilden. I sådana fall är det sett att användningen av hybrid-teknik kan gynna den totala upptäckt av föremål, särskilt genom att kombinera keypoint metoder med färgen tekniker. Robotic motion spelar också en viktig roll i genomförandet av självständiga uppgifter. Mobila robotar har olika konfigurationer för transport. Det viktigaste är differentierad styrning på grund av dess tillämpning i känsliga områden som stridsvagnar och säkerhet plattformar robot. Den kinematiska utformningen av en robot plattform är vanligtvis baserad på antalet hjul och deras rörelser. Det kan finnas flera konfigurationer av hjul mönster, till exempel olika enheter, bil-liknande mönster, rundstrålande, och driver synkroniserad. Differential drivsystem använder fart om olika kanaler för att bestämma den kombinerade snabbhet och banan för roboten. Exakt förflyttning av roboten är mycket viktigt för korrekt ifyllande av sin verksamhet. Mål: En vision lösning har utvecklats som kan upptäcka små och medelstora färg objekt i miljön. Detta har också jämfört med andra tekniker form upptäcka för utvärdering av prestanda. Effekten av avstånd vid upptäckt är också undersökas för de deltagande tekniker. Den exakta rörelse av en fyrhjulsdriven olika drivsystem undersöks. Målet robot plattform använder en differentierad system driva styrning och i centrum för denna studie är korrekt läge och riktning kontroll baserat på sensordata. Metoder: För att upptäcka, en ny hybrid metod "HistSURF" föreslås och jämförs med andra tekniker vision bearbetning. Denna metod kombinerar resultaten av färg histogram jämförelse och upptäckt av SURF algoritm. En lösning för differentierad styrning med hjälp av en Gyro för varvtal mätningen jämförs med en lösning med en hastighet modell och utgångar kontroll utan återkoppling (dvs död räkning). Resultat: Resultaten från den vision experiment inom den nya föreslagna metoden högsta bland de andra deltagande tekniker. Avståndet experiment indikerar att det finns ett direkt och omvänd korrelation mellan avstånd och upptäckt SURF funktioner. Det är också framgå av resultatet från det avståndet påverkar upptäckten hastighet av den nya föreslagna tekniken. Vid robot kontroll har skillnaden köra lösningen med en hastighet modell mindre felfrekvens än den som använder en Gyro för vinkelmätning. Det framgår även av resultaten att ju större skillnaden i hastigheter mellan de kanaler de mindre smidiga är vinkelrörelse. Slutsatser: Resultaten visar att genom att kombinera en central-punkt baserad teknik med färg segmentering, den falska positiva kan sänkas och därmed objektigenkänning prestanda ökar. Det har också blivit uppenbart att förbättrad noggrannhet av den föreslagna tekniken är begränsad till små avstånd och dess prestanda minskar snabbt med ökat avstånd till målet objekt. För robot kontroll, tyder resultaten på att en Gyro inte ensam kan förbättra rörligheten noggrannhet robotsystem på grund av en variabel glida ut av Gyro medan rotation. Men en Gyro kan vara effektiva om de används i kombination med en magnetometer och någon form av uppskattning mekanism som ett Kalman filter. En Kalman filter kan användas för att rätta till felet i Gyro med hjälp av utdata från magnetometer, vilket resulterar i en god uppskattning.
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Jílek, Tomáš. "Dálkové softwarové ovládání platformy bezdrátového modulu mobilního robotu." Master's thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2011. http://www.nusl.cz/ntk/nusl-218894.
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The thesis discusses the possible ways of remote management of devices running Mikrotik RouterOS and choosing appropriate variant for implementation of automated remote management of the device, which is part of a mobile robot. Due to the limited capabilities of embedded system, from which it is necessary to perform automated remote management of device with this operating system, it was not possible to use standardized protocols for this purpose. A substantial part of this work therefore deals with analysis and detailed documentation of proprietary protocols implemented in the MikroTik RouterOS operating system, which are suitable for implementation in an embedded system, from which it is necessary to perform automated remote management. The conclusion describes the principle of the proposed and realized implementation of proprietary protocols in C language. The described implementation is part of the library, which provides automated remote management using these protocols.
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Hayosh, Daniel G. "Development of a Low-Cost Social Robotic Platform." Case Western Reserve University School of Graduate Studies / OhioLINK, 2020. http://rave.ohiolink.edu/etdc/view?acc_num=case156760134522865.
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Smith, Lauren Melissa. "The Tri-Wheel: A Novel Robot Locomotion Concept Meeting the Need for Increased Speed and Climbing Capability." Case Western Reserve University School of Graduate Studies / OhioLINK, 2015. http://rave.ohiolink.edu/etdc/view?acc_num=case1417782329.
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