Commenced in January 2007
Frequency: Monthly
Edition: International
Paper Count: 7

Autonomous Related Abstracts

7 The Implementation of the Multi-Agent Classification System (MACS) in Compliance with FIPA Specifications

Authors: Mohamed R. Mhereeg

Abstract:

The paper discusses the implementation of the MultiAgent classification System (MACS) and utilizing it to provide an automated and accurate classification of end users developing applications in the spreadsheet domain. However, different technologies have been brought together to build MACS. The strength of the system is the integration of the agent technology with the FIPA specifications together with other technologies, which are the .NET widows service based agents, the Windows Communication Foundation (WCF) services, the Service Oriented Architecture (SOA), and Oracle Data Mining (ODM). Microsoft's .NET windows service based agents were utilized to develop the monitoring agents of MACS, the .NET WCF services together with SOA approach allowed the distribution and communication between agents over the WWW. The Monitoring Agents (MAs) were configured to execute automatically to monitor excel spreadsheets development activities by content. Data gathered by the Monitoring Agents from various resources over a period of time was collected and filtered by a Database Updater Agent (DUA) residing in the .NET client application of the system. This agent then transfers and stores the data in Oracle server database via Oracle stored procedures for further processing that leads to the classification of the end user developers.

Keywords: Multi-Agent, Autonomous, Implementation, SOA, MACS, WCF

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6 Conception of a Reliable Low Cost and Autonomous Explorative Hovercraft

Authors: S. Burgalat, L. Teilhac, A. Brand, E. Chastel, M. Jumeline

Abstract:

The paper presents actual benefits and drawbacks of a multidirectional autonomous hovercraft conceived with limited resources and designed for indoor exploration. Recent developments in the field have led to the apparition of very powerful automotive systems capable of very high calculation and exploration in complex unknown environments. They usually propose very complex algorithms, high precision/cost sensors and sometimes have heavy calculation consumption with complex data fusion. These systems are usually powerful but have a certain price, and the benefits may not be worth the cost, especially considering their hardware limitations and their power consumption. The present approach is to build a compromise between cost, power consumption and results preciseness.

Keywords: Autonomous, Wireless Control, hovercraft, indoor exploration, multidirectional

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5 Conception of a Reliable Low Cost, Autonomous Explorative Hovercraft 1

Authors: S. Burgalat, L. Teilhac, A. Brand, E. Chastel, M. Jumeline

Abstract:

The paper presents actual benefits and drawbacks of a multidirectional Hovercraft conceived with limited resources and designed for indoor exploration. Recent developments in the field have led to apparition of very powerful automotive systems capable of very high calculation and exploration in complex unknown environments. They usually propose very complex algorithms, high precision/cost sensors and sometimes have heavy calculation consumption with complex data fusion. Those systems are usually powerful but have a certain price and the benefits may not be worth the cost, especially considering their hardware limitations and their power consumption. Present approach is to build a compromise between cost, power consumption and results preciseness.

Keywords: Autonomous, Wireless Control, hovercraft, indoor exploration, multidirectional

Procedia PDF Downloads 283
4 Design, Control and Autonomous Trajectory Tracking of an Octorotor Rotorcraft

Authors: Seyed Jamal Haddadi, M. Reza Mehranpour, Roya Sadat Mortazavi, Zahra Sadat Mortazavi

Abstract:

Principal aim of this research is trajectory tracking, attitude and position control scheme in real flight mode by an Octorotor helicopter. For more stability, in this Unmanned Aerial Vehicle (UAV), number of motors is increased to eight motors which end of each arm installed two coaxial counter rotating motors. Dynamic model of this Octorotor includes of motion equation for translation and rotation. Utilized controller is proportional-integral-derivative (PID) control loop. The proposed controller is designed such that to be able to attenuate an effect of external wind disturbance and guarantee stability in this condition. The trajectory is determined by a Global Positioning System (GPS). Also an ARM CortexM4 is used as microprocessor. Electronic board of this UAV designed as able to records all of the sensors data, similar to an aircraft black box in external memory. Finally after auto landing of Octorotor, flight data is shown in MATLAB software and Experimental results of the proposed controller show the effectiveness of our approach on the Autonomous Quadrotor in real conditions.

Keywords: Design, Autonomous, PID Controller, trajectory tracking, octorotor

Procedia PDF Downloads 146
3 An Android Geofencing App for Autonomous Remote Switch Control

Authors: Chang-Shyh Peng, Daisy Sang, Jamie Wong

Abstract:

Geofence is a virtual fence defined by a preset physical radius around a target location. Geofencing App provides location-based services which define the actionable operations upon the crossing of a geofence. Geofencing requires continual location tracking, which can consume noticeable amount of battery power. Additionally, location updates need to be frequent and accurate or order so that actions can be triggered within an expected time window after the mobile user navigate through the geofence. In this paper, we build an Android mobile geofencing Application to remotely and autonomously control a power switch.

Keywords: Autonomous, location based service, geofence, remote switch

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2 Design and Implementation of Bluetooth Controlled Autonomous Vehicle

Authors: Amanuel Berhanu Kesamo

Abstract:

This paper presents both circuit simulation and hardware implementation of a robot vehicle that can be either controlled manually via Bluetooth with video streaming or navigate autonomously to a target point by avoiding obstacles. In manual mode, the user controls the mobile robot using C# windows form interfaced via Bluetooth. The camera mounted on the robot is used to capture and send the real time video to the user. In autonomous mode, the robot plans the shortest path to the target point while avoiding obstacles along the way. Ultrasonic sensor is used for sensing the obstacle in its environment. An efficient path planning algorithm is implemented to navigate the robot along optimal route.

Keywords: Autonomous, Path Planning, Arduino UNO, Bluetooth module, remote controlled robot, ultra sonic sensor

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1 Low-Cost Mechatronic Design of an Omnidirectional Mobile Robot

Authors: S. Cobos-Guzman

Abstract:

This paper presents the results of a new mechatronic design based on a 4-wheel omnidirectional mobile robot for indoor applications that can be used in logistic applications. The low-level control has been selected using two open-source hardware (Raspberry Pi 3 Model B+ and Arduino Mega 2560) that control four industrial motors, four ultrasound sensors, four optical encoders, a vision system of two cameras, and a Hokuyo URG-04LX-UG01 laser scanner. The system is powered with a lithium battery that can supply 24 V DC and a maximum current-hour of 20Ah. The Robot Operating System (ROS) has been implemented in the Raspberry Pi, and the performance is evaluated with the selection of the sensors that the Raspberry Pi must control. The mechatronic system is evaluated, and in this paper is proposed safe modes of power distribution for controlling all the electronic devices based on different tests. Therefore, based on different performance results, some recommendations are indicated for using the Raspberry Pi and Arduino in terms of power, communication, and distribution of control for different devices. According to these recommendations, the selection of sensors is distributed in both real-time controllers (Arduino and Raspberry Pi). On the other hand, the drivers of the cameras have been implemented in Linux and accessed through USB ports. A python program has been implemented for accessing to the cameras. These cameras will be used for implementing a deep learning algorithm to recognize people and objects. In this way, the level of intelligence can be increased in combination with the maps that can be obtained from the laser scanner. Moreover, different demonstrations of the robot performance will be shown as a validation of the system. Therefore, the paper will promote the use of open-source hardware and focused on the new industry 4.0 that requires high levels of digitalization and access to the information to implement more future intelligent algorithms. The conclusion of this research is to provide a platform that can use open source systems where is analyzing the pros and cons of the hardware selected. Also, it is important to provide autonomous robots that not only are focusing on using sensors for collision detection or simultaneous localization and mapping (SLAM). It is also important to increase the level of intelligence with the combination of a vision system for teaching the robot to recognize dynamic and static objects in a dynamic scenario. In logistic applications, the high density of robots and people are important aspects to be considered, and in the new Industry 4.0 is important that humans and robots can collaborate in different tasks. Therefore, it is vital that new autonomous robots cannot be used only as guided robots and robots with laser scanners for generating maps. The combination of the vision system with the laser scanner can help to increase the level of intelligence generating Big Data that can be processed for other future algorithms of Artificial Intelligence and, in this way, increase the level of making decisions.

Keywords: Autonomous, Mechatronic, indoor robot, omnidirectional robot

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