Search results for: robot navigation

Authors: M. S. Sreejith, Steffy Joy, Abhishesh Pal, Beom-Sahng Ryuh, V. R. Sanal Kumar

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In this paper, an attempt has been made for the design of a robotic library using an intelligent system. The robot works on the ARM microprocessor, motor driver circuit with 5 degrees of freedom with Wi-Fi and GPS based communication protocol. The authenticity of the library books is controlled by RFID. The proposed robotic library system is facilitated with embedded system and ARM. In this library issuance system, the previous potential readers’ authentic review reports have been taken into consideration for recommending suitable books to the deserving new users and the issuance of books or periodicals is based on the users’ decision. We have conjectured that the Wi-Fi based robotic library management system would allow fast transaction of books issuance and it also produces quality readers.

Keywords: GPS based based robotic library, library management system, robotic library, Wi-Fi library.

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Authors: Abolfazl Mohammadijoo

Abstract:

In this paper, we are investigating sliding mode control approach for trajectory tracking of a two-link-manipulator with wheeled mobile robot in its base. The main challenge of this work is dynamic interaction between mobile base and manipulator which makes trajectory tracking more difficult than n-link manipulators with fixed base. Another challenging part of this work is to avoid chattering phenomenon of sliding mode control that makes lots of damages for actuators in real industrial cases. The results show the effectiveness of sliding mode control approach for desired trajectory.

Keywords: Mobile manipulator, sliding mode control, dynamic interaction, mobile robotics.

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Authors: David Wiese

Abstract:

In order to maximize efficiency of an information management platform and to assist in decision making, the collection, storage and analysis of performance-relevant data has become of fundamental importance. This paper addresses the merits and drawbacks provided by the OLAP paradigm for efficiently navigating large volumes of performance measurement data hierarchically. The system managers or database administrators navigate through adequately (re)structured measurement data aiming to detect performance bottlenecks, identify causes for performance problems or assessing the impact of configuration changes on the system and its representative metrics. Of particular importance is finding the root cause of an imminent problem, threatening availability and performance of an information system. Leveraging OLAP techniques, in contrast to traditional static reporting, this is supposed to be accomplished within moderate amount of time and little processing complexity. It is shown how OLAP techniques can help improve understandability and manageability of measurement data and, hence, improve the whole Performance Analysis process.

Keywords: Data Warehousing, OLAP, Multidimensional Navigation, Performance Diagnosis, Performance Management, Performance Tuning.

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Authors: Roselyn A. Maaño

Abstract:

Eyes are an essential and conspicuous organ of the human body. Human eyes are outward and inward portals of the body that allows to see the outside world and provides glimpses into ones inner thoughts and feelings. Inevitable blindness and visual impairments may results from eye-related disease, trauma, or congenital or degenerative conditions that cannot be corrected by conventional means. The study emphasizes innovative tools that will serve as an aid to the blind and visually impaired (VI) individuals. The researchers fabricated a prototype that utilizes the Microsoft Kinect for Windows and Arduino microcontroller board. The prototype facilitates advanced gesture recognition, voice recognition, obstacle detection and indoor environment navigation. Open Computer Vision (OpenCV) performs image analysis, and gesture tracking to transform Kinect data to the desired output. A computer vision technology device provides greater accessibility for those with vision impairments.

Keywords: Algorithms, Blind, Computer Vision, Embedded Systems, Image Analysis.

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Authors: C. Schneider, M. M. Seizmeir, T. Suchanek, M. Hutter-Mironovová, M. Bdiwi, M. Putz

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In this paper, a suitable measurement setup is presented to conduct force and pressure measurements for transient contact cases at the example of lathe machine tending. Empirical measurements were executed on a selected collaborative robot’s behavior regarding allowable operating speeds under consideration of sensor- and workpiece-specific factors. Comparisons between the theoretic calculations proposed in ISO/TS 15066 and the practical measurement results reveal a basis for future research. With the created database, preliminary risk assessment and economic assessment procedures of collaborative machine tending cells can be facilitated.

Keywords: biomechanical thresholds, collaborative robots, force and pressure measurements, machine tending, transient contact

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Authors: A. Pajaziti, H. Cana

Abstract:

In this paper, the structural genetic algorithm is used to optimize the neural network to control the joint movements of robotic arm. The robotic arm has also been modeled in 3D and simulated in real-time in MATLAB. It is found that Neural Networks provide a simple and effective way to control the robot tasks. Computer simulation examples are given to illustrate the significance of this method. By combining Genetic Algorithm optimization method and Neural Networks for the given robotic arm with 5 D.O.F. the obtained the results shown that the base joint movements overshooting time without controller was about 0.5 seconds, while with Neural Network controller (optimized with Genetic Algorithm) was about 0.2 seconds, and the population size of 150 gave best results.

Keywords: Robotic Arm, Neural Network, Genetic Algorithm, Optimization.

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Authors: Jie Cai, David C. Levy

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Electronic nose (array of chemical sensors) are widely used in food industry and pollution control. Also it could be used to locate or detect the direction of the source of emission odors. Usually this task is performed by electronic nose (ENose) cooperated with mobile vehicles, but when a source is instantaneous or surrounding is hard for vehicles to reach, problem occurs. Thus a method for stationary ENose to detect the direction of the source and locate the source will be required. A novel method which uses the ratio between the responses of different sensors as a discriminant to determine the direction of source in natural wind surroundings is presented in this paper. The result shows that the method is accurate and easily to be implemented. This method could be also used in movably, as an optimized algorithm for robot tracking source location.

Keywords: Electronic nose, Nature wind situation, Source direction detection.

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Authors: Zainab bt Khalifah, Wong Chiet Bing, Noor Hazarina Hashim

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The evolution of customer behavior in purchasing products or services through the Internet leads to airline companies engaging in the e-ticketing process in order to maintain their business. A well-designed website is vitally significant for the airline companies to provide effective communication, support, and competitive advantage. This study was conducted to identify the dimensions of website quality for low cost airline and to investigate the relationship between the website quality and customer esatisfaction at low cost airline. A total of 381 responses were conveniently collected among local passengers at Low Cost Carrier Terminal, Kuala Lumpur via questionnaire distribution. This study found that the five determinant factors of website quality for AirAsia were Information Content, Navigation, Responsiveness, Personalization, and Security and Privacy. The results of this study revealed that there is a positive relationship between the five dimensions of website quality and customer e-satisfaction, and also information content was the most significant contributor to customer e-satisfaction.

Keywords: Website Quality, Customer E-Satisfaction, Low Cost Airline.

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Authors: Tudor Deaconescu, Andrea Deaconescu

Abstract:

Deployment of pneumatic muscles in various industrial applications is still in its early days, considering the relative newness of these components. The field of robotics holds particular future potential for pneumatic muscles, especially in view of their specific behaviour known as compliance. The paper presents and discusses an innovative constructive solution for a gripper system mountable on an industrial robot, based on actuation by a linear pneumatic muscle and transmission of motion by gear and rack mechanism. The structural, operational and constructive models of the new gripper are presented, along with some of the experimental results obtained subsequently to the testing of a prototype. Further presented are two control variants of the gripper system, one by means of a 3/2-way fast-switching solenoid valve, the other by means of a proportional pressure regulator. Advantages and disadvantages are discussed for both variants.

Keywords: Gripper system, pneumatic muscle, structural modeling.

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Authors: D. R. Awang Rambli, S. Sulaiman, M.Y. Nayan, A.R. Asoruddin

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Existing image-based virtual reality applications allow users to view image-based 3D virtual environment in a more interactive manner. User could “walkthrough"; looks left, right, up and down and even zoom into objects in these virtual worlds of images. However what the user sees during a “zoom in" is just a close-up view of the same image which was taken from a distant. Thus, this does not give the user an accurate view of the object from the actual distance. In this paper, a simple technique for zooming in an object in a virtual scene is presented. The technique is based on the 'hotspot' concept in existing application. Instead of navigation between two different locations, the hotspots are used to focus into an object in the scene. For each object, several hotspots are created. A different picture is taken for each hotspot. Each consecutive hotspot created will take the user closer to the object. This will provide the user with a correct of view of the object based on his proximity to the object. Implementation issues and the relevance of this technique in potential application areas are highlighted.

Keywords: Hotspots, image-based VR, camera zooms, virtualreality.

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Authors: Je Young Lee, Hee Sung Kim, Kwang Ho Choi, Joonhoo Lim, Sebum Chun, Hyung Keun Lee

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This study is purposed to develop an efficient fault detection method for Global Navigation Satellite Systems (GNSS) applications based on adaptive noise covariance estimation. Due to the dependence on radio frequency signals, GNSS measurements are dominated by systematic errors in receiver’s operating environment. In the proposed method, the pseudorange and carrier-phase measurement noise covariances are obtained at time propagations and measurement updates in process of Carrier-Smoothed Code (CSC) filtering, respectively. The test statistics for fault detection are generated by the estimated measurement noise covariances. To evaluate the fault detection capability, intentional faults were added to the filed-collected measurements. The experiment result shows that the proposed method is efficient in detecting unhealthy measurements and improves GNSS positioning accuracy against fault occurrences.

Keywords: Adaptive estimation, fault detection, GNSS, residual.

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Authors: Resul Fikir

Abstract:

Unmanned Aircraft Systems (UAS) become indispensable parts of modern airpower as force multiplier. One of the main advantages of UAS is long endurance. UAS have to take extra payloads to accomplish different missions but these payloads decrease endurance of aircraft because of increasing drag. There are continuing researches to increase the capability of UAS. There are some vertical thermal air currents, which can cause climb and increase endurance, in nature. Birds and gliders use thermals to gain altitude with no effort. UAS have wide wings which can use thermals like birds and gliders. Thermal regions, which is area of 2000-3000 meter (1 NM), exist all around the world. It is natural and infinite source. This study analyses if thermal regions can be adopted and implemented as an assistant tool for UAS route planning. First and second part of study will contain information about the thermal regions and current applications about UAS in aviation and climbing performance with a real example. Continuing parts will analyze the contribution of thermal regions to UAS endurance. Contribution is important because planning declaration of UAS navigation rules will be in 2015.

Keywords: Airways, Thermals, UAS, UAS Roadmap.

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Authors: A. Naga Rajesh, S. Chandralingam, T. Anjaneyulu, K. Satyanarayana

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Assistive robotics are playing a vital role in advancing the quality of life for disable people. There exist wide range of systems that can control and guide autonomous mobile robots. The objective of the control system is to guide an autonomous mobile robot using the movement of eyes by means of EOG signal. The EOG signal is acquired using Ag/AgCl electrodes and this signal is processed by a microcontroller unit to calculate the eye gaze direction. Then according to the guidance control strategy, the control commands of the wheelchair are sent. The classification of different eye movements allows us to generate simple code for controlling the wheelchair. This work was aimed towards developing a usable and low-cost assistive robotic wheel chair system for disabled people. To live more independent life, the system can be used by the handicapped people especially those with only eye-motor coordination.

Keywords: Electrooculography, Microcontroller, Motors, Wheelchair.

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Authors: A. Bagherzadhalimi, E. Di Maria

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The feedbacks obtained regarding the sense of presence from pilot users operating a Mobile Robotic presence (MRP) system to visit a simulated museum are reported in this paper. The aim is to investigate how much the perception of system’s usefulness and ease of use is affected by operators’ sense of social telepresence (presence) in the remote location. Therefore, scenarios of visiting a museum are simulated and the user operators are supposed to perform some regular tasks inside the remote environment including interaction with local users, navigation and visiting the artworks. Participants were divided into two groups, those who had previous experience of operation and interaction with a MRP system and those who never had experience. Based on the results, both groups provided different feedbacks. Moreover, there was a significant association between user’s sense of presence and their perception of system usefulness and ease of use.

Keywords: Mobile Robotic Telepresence, Museum, Social Telepresence, Usability test.

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Authors: Jimmy W. Soto Martell, Giuseppina Gini

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In this paper we intend to ascertain the state of the art on multifingered end-effectors, also known as robotic hands or dexterous robot hands, and propose an experimental setup for an innovative task based design approach, involving cutting edge technologies in motion capture. After an initial description of the capabilities and complexity of a human hand when grasping objects, in order to point out the importance of replicating it, we analyze the mechanical and kinematical structure of some important works carried out all around the world in the last three decades and also review the actuators and sensing technologies used. Finally we describe a new design philosophy proposing an experimental setup for the first stage using recent developments in human body motion capture systems that might lead to lighter and always more dexterous robotic hands.

Keywords: Dexterous manipulation, grasp, multifingered endeffector, robotic hand.

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Authors: P. H. Le, J. Molina, S. Hirai

Abstract:

In this work, we propose the application of Japanese “Origami” art for a floating function of a small aerial vehicle such as a hexarotor. A preliminary experiment was conducted using Origami magic balls mounted under a hexarotor. This magic ball can expand and shrink using an air pump during free flying. Using this interesting and functional concept, it promises to reduce the resistance of wind as well as reduce the energy consumption when the Origami balls are deflated. This approach can be particularly useful in rescue emergency situations. Furthermore, there are many unexpected reasons that may cause the multi-rotor has to land on the surface of water due to problems with the communication between the aircraft and the ground station. In addition, a complementary experiment was designed to prove that the hexarotor can fly maintaining the stability and also, takes off and lands on the surface of water using air balloons.

Keywords: Helicopter, Japanese Origami ball, Floating, Aerial Robots, Rescue.

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Authors: Byung Hoon Seo, Hyun Gyu Kim, Tae Won Seo

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Stair climbing is one of critical issues for field robots to widen applicable areas. This paper presents optimal design on kinematic parameters of a new robotic platform for stair climbing. The robotic platform climbs various stairs by body flip locomotion with caterpillar type main platform. Kinematic parameters such as platform length, platform height, and caterpillar rotation speed are optimized to maximize stair climbing stability. Three types of stairs are used to simulate typical user conditions. The optimal design process is conducted based on Taguchi methodology, and resulting parameters with optimized objective function are presented. In near future, a prototype is assembled for real environment testing.

Keywords: Stair climbing robot, Optimal design, Taguchi methodology, Caterpillar, Kinematic parameters.

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Authors: Jianning Tang, Xiaofeng Wu

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With the increasing demand for space use in multiple sectors (navigation, telecommunication, imagery, etc.), the deployment and maintenance demand of satellites are growing. Considering the high launching cost and the restrictions on weight and size of the payload when using launch vehicle, the technique of on-orbit manufacturing has obtained more attention because of its significant potential to support future space missions. 3D printing is the most promising manufacturing technology that could be applied in space. However, due to the lack of autonomous quality assessment, the operation of conventional 3D printers still relies on human presence to supervise the printing process. This paper is proposed to develop an automatic 3D reconstruction system aiming at detecting failures on the 3D printed objects through application of point cloud technology. Based on the data obtained from the point cloud, the 3D printer could locate the failure and repair the failure. The system will increase automation and provide 3D printing with more feasibilities for space use without human interference.

Keywords: 3D printing, quality assessment, point cloud, on-orbit manufacturing.

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Authors: Chang Liu, John Nash, Stephen D. Prior

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This paper presents the design and implementation details of a complete unmanned aerial system (UAS) based on commercial-off-the-shelf (COTS) components, focusing on safety, security, search and rescue scenarios in GPS-denied environments. In particular, The aerial platform is capable of semi-autonomously navigating through extremely low-light, GPS-denied indoor environments based on onboard sensors only, including a downward-facing optical flow camera. Besides, an additional low-cost payload camera system is developed to stream both infra-red video and visible light video to a ground station in real-time, for the purpose of detecting sign of life and hidden humans. The total cost of the complete system is estimated to be $1150, and the effectiveness of the system has been tested and validated in practical scenarios.

Keywords: Unmanned aerial system, commercial-off-the-shelf, extremely low-light, GPS-denied, optical flow, infrared video.

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Authors: M. Lesage, G. Raîche, M. Riopel, F. Fortin, D. Sebkhi

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This paper describes a Web server implementation of the hierarchical aggregate assessment process in the field of education. This process describes itself as a field of teamwork assessment where teams can have multiple levels of hierarchy and supervision. This process is applied everywhere and is part of the management, education, assessment and computer science fields. The E-Assessment website named “Cluster” records in its database the students, the course material, the teams and the hierarchical relationships between the students. For the present research, the hierarchical relationships are team member, team leader and group administrator appointments. The group administrators have the responsibility to supervise team leaders. The experimentation of the application has been performed by high school students in geology courses and Canadian army cadets for navigation patrols in teams. This research extends the work of Nance that uses a hierarchical aggregation process similar as the one implemented in the “Cluster” application. 

Keywords: E-Learning, E-Assessment, Teamwork Assessment, Hierarchical Aggregate Assessment.

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Authors: Diego Felix, Eugene Hyun, Michael McGuire, Mihai Sima

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Terminal localization for indoor Wireless Local Area Networks (WLANs) is critical for the deployment of location-aware computing inside of buildings. A major challenge is obtaining high localization accuracy in presence of fluctuations of the received signal strength (RSS) measurements caused by multipath fading. This paper focuses on reducing the effect of the distance-varying noise by spatial filtering of the measured RSS. Two different survey point geometries are tested with the noise reduction technique: survey points arranged in sets of clusters and survey points uniformly distributed over the network area. The results show that the location accuracy improves by 16% when the filter is used and by 18% when the filter is applied to a clustered survey set as opposed to a straight-line survey set. The estimated locations are within 2 m of the true location, which indicates that clustering the survey points provides better localization accuracy due to superior noise removal.

Keywords: Position measurement, Wireless LAN, Radio navigation, Filtering

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Authors: Mircea Ivanescu, Nirvana Popescu, Decebal Popescu, Dorin Popescu

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This paper addresses the control problem of a class of hyper-redundant arms. In order to avoid discrepancy between the mathematical model and the actual dynamics, the dynamic model with uncertain parameters of this class of manipulators is inferred. A procedure to design a feedback controller which stabilizes the uncertain system has been proposed. A PD boundary control algorithm is used in order to control the desired position of the manipulator. This controller is easy to implement from the point of view of measuring techniques and actuation. Numerical simulations verify the effectiveness of the presented methods. In order to verify the suitability of the control algorithm, a platform with a 3D flexible manipulator has been employed for testing. Experimental tests on this platform illustrate the applications of the techniques developed in the paper.

Keywords: Distributed model, flexible manipulator, observer, robot control.

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Authors: Yuanqing Li, Changyi Lei, Zhaopeng Xue, Zhuo Zheng, Yanbo Long

Abstract:

In agricultural production and breeding, implementing automatic picking robot in orchard farming to reduce human labour and error is challenging. The core function of it is automatic identification based on machine vision. This paper focuses on apple detection and counting in orchards and implements several deep learning methods. Extensive datasets are used and a semi-automatic annotation method is proposed. The proposed deep learning models are in state-of-the-art YOLO family. In view of the essence of the models with various backbones, a multi-dimensional comparison in details is made in terms of counting accuracy, mAP and model memory, laying the foundation for realising automatic precision agriculture.

Keywords: Agricultural object detection, Deep learning, machine vision, YOLO family.

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Authors: Avinesh Prasad, Bibhya Sharma, Jito Vanualailai

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In this paper, we propose a solution to the motion control problem of a 2-link revolute manipulator arm. We require the end-effector of the arm to move safely to its designated target in a priori known workspace cluttered with fixed circular obstacles of arbitrary position and sizes. Firstly a unique velocity algorithm is used to move the end-effector to its target. Secondly, for obstacle avoidance a turning angle is designed, which when incorporated into the control laws ensures that the entire robot arm avoids any number of fixed obstacles along its path enroute the target. The control laws proposed in this paper also ensure that the equilibrium point of the system is asymptotically stable. Computer simulations of the proposed technique are presented.

Keywords: 2-link revolute manipulator, motion control, obstacle avoidance, asymptotic stability.

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Authors: Renáta Iváncsy, Sándor Juhász

Abstract:

Web usage mining has become a popular research area, as a huge amount of data is available online. These data can be used for several purposes, such as web personalization, web structure enhancement, web navigation prediction etc. However, the raw log files are not directly usable; they have to be preprocessed in order to transform them into a suitable format for different data mining tasks. One of the key issues in the preprocessing phase is to identify web users. Identifying users based on web log files is not a straightforward problem, thus various methods have been developed. There are several difficulties that have to be overcome, such as client side caching, changing and shared IP addresses and so on. This paper presents three different methods for identifying web users. Two of them are the most commonly used methods in web log mining systems, whereas the third on is our novel approach that uses a complex cookie-based method to identify web users. Furthermore we also take steps towards identifying the individuals behind the impersonal web users. To demonstrate the efficiency of the new method we developed an implementation called Web Activity Tracking (WAT) system that aims at a more precise distinction of web users based on log data. We present some statistical analysis created by the WAT on real data about the behavior of the Hungarian web users and a comprehensive analysis and comparison of the three methods

Keywords: Data preparation, Tracking individuals, Web useridentification, Web usage mining

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Authors: Riku Hayashida, Tomoaki Hashimoto

Abstract:

This paper provides a robust stabilization method for rotational motion of underwater robots against parameter uncertainties. Underwater robots are expected to be used for various work assignments. The large variety of applications of underwater robots motivates researchers to develop control systems and technologies for underwater robots. Several control methods have been proposed so far for the stabilization of nominal system model of underwater robots with no parameter uncertainty. Parameter uncertainties are considered to be obstacles in implementation of the such nominal control methods for underwater robots. The objective of this study is to establish a robust stabilization method for rotational motion of underwater robots against parameter uncertainties. The effectiveness of the proposed method is verified by numerical simulations.

Keywords: Robust control, stabilization method, underwater robot, parameter uncertainty.

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Authors: Rung-Shiang Cheng, Wei-Jun Hong, Jheng-Syun Wang, Kawuu W. Lin

Abstract:

Users rely increasingly on Location-Based Services (LBS) and automated navigation/guidance systems nowadays. However, while such services are easily implemented in outdoor environments using Global Positioning System (GPS) technology, a requirement still exists for accurate localization and guidance schemes in indoor settings. Accordingly, the present study presents a methodology based on GPS, Bluetooth Low Energy (BLE) beacons, and Near Field Communication (NFC) technology. Through establishing graphic information and the design of algorithm, this study develops a guidance system for indoor and outdoor on smartphones, with aim to provide users a smart life through this system. The presented system is implemented on a smartphone and evaluated on a student campus environment. The experimental results confirm the ability of the presented app to switch automatically from an outdoor mode to an indoor mode and to guide the user to the requested target destination via the shortest possible route.

Keywords: Beacon, BLE, Dijkstra algorithm, indoor, GPS, near field communication technology.

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Authors: Cheng-En Tsai, Chung-Chun Hsiao, Fu-Yuan Chang, Liang-Lun Lan, Jia-Ying Tu

Abstract:

New design of three dimensional (3D) flywheel system based on gimbal and gyro mechanics is proposed. The 3D flywheel device utilizes the rotational motion of three spherical shells and the conservation of angular momentum to achieve planar locomotion. Actuators mounted to the ring-shape frames are installed within the system to drive the spherical shells to rotate, for the purpose of steering and stabilization. Similar to the design of 2D flywheel system, it is expected that the spherical shells may function like a “flyball” to store and supply mechanical energy; additionally, in comparison with typical single-wheel and spherical robots, the 3D flywheel can be used for developing omnidirectional robotic systems with better mobility. The Lagrangian method is applied to derive the equation of motion of the 3D flywheel system, and simulation studies are presented to verify the proposed design.

Keywords: Gimbal, spherical robot, gyroscope, Lagrangian formulation, flyball.

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Authors: Cheng-En Tsai, Chung-Chun Hsiao, Fu-Yuan Chang, Liang-Lun Lan, Jia-Ying Tu

Abstract:

New design of three dimensional (3D) flywheel system based on gimbal and gyro mechanics is proposed. The 3D flywheel device utilizes the rotational motion of three spherical shells and the conservation of angular momentum to achieve planar locomotion. Actuators mounted to the ring-shape frames are installed within the system to drive the spherical shells to rotate, for the purpose of steering and stabilization. Similar to the design of 2D flywheel system, it is expected that the spherical shells may function like a “flyball” to store and supply mechanical energy; additionally, in comparison with typical single-wheel and spherical robots, the 3D flywheel can be used for developing omnidirectional robotic systems with better mobility. The Lagrangian method is applied to derive the equation of motion of the 3D flywheel system, and simulation studies are presented to verify the proposed design.

Keywords: Gimbal, spherical robot, gyroscope, Lagrangian formulation, flyball.

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Authors: Dušan Kravec, Ondrej Staš, Marián Tolnay, Michal Bachratý

Abstract:

This article gives a short preview of the new software created especially for palletizing process in automated production systems. Each chapter of this article is about problem solving in development of modules in Java programming language. First part describes structure of the software, its modules and data flow between them. Second part describes all deployment methods, which are implemented in the software. Next chapter is about twodimensional editor created for manipulation with objects in each layer of the load and gives calculations for collision control. Module of virtual reality used for three-dimensional preview and creation of the load is described in the fifth chapter. The last part of this article describes communication and data flow between control system of the robot, vision system and software.

Keywords: Palletizing, deployment methods, palletizing software, virtual reality in palletizing.

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