Commenced in January 2007
Frequency: Monthly
Edition: International
Paper Count: 16

Search results for: omnidirectional

16 Localization of Mobile Robots with Omnidirectional Cameras

Authors: Tatsuya Kato, Masanobu Nagata, Hidetoshi Nakashima, Kazunori Matsuo

Abstract:

Localization of mobile robots are important tasks for developing autonomous mobile robots. This paper proposes a method to estimate positions of a mobile robot using a omnidirectional camera on the robot. Landmarks for points of references are set up on a field where the robot works. The omnidirectional camera which can obtain 360 [deg] around images takes photographs of these landmarks. The positions of the robots are estimated from directions of these landmarks that are extracted from the images by image processing. This method can obtain the robot positions without accumulative position errors. Accuracy of the estimated robot positions by the proposed method are evaluated through some experiments. The results show that it can obtain the positions with small standard deviations. Therefore the method has possibilities of more accurate localization by tuning of appropriate offset parameters.

Keywords: Mobile robots, Localization, Omnidirectional camera.

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15 Fuzzy Error Recovery in Feedback Control for Three Wheel Omnidirectional Soccer Robot

Authors: Vahid Rostami, Omid sojodishijani , Saeed Ebrahimijam, Ali MohsenizanjaniNejad

Abstract:

This paper is described one of the intelligent control method in Autonomous systems, which is called fuzzy control to correct the three wheel omnidirectional robot movement while it make mistake to catch the target. Fuzzy logic is especially advantageous for problems that can not be easily represented by mathematical modeling because data is either unavailable, incomplete or the process is too complex. Such systems can be easily up grated by adding new rules to improve performance or add new features. In many cases , fuzzy control can be used to improve existing traditional controller systems by adding an extra layer of intelligence to the current control method. The fuzzy controller designed here is more accurate and flexible than the traditional controllers. The project is done at MRL middle size soccer robot team.

Keywords: Robocup , omnidirectional , fuzzy control, soccer robot , intelligent control.

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14 Embedded Hardware and Software Design of Omnidirectional Autonomous Robotic Platform Suitable for Advanced Driver Assistance Systems Testing with Focus on Modularity and Safety

Authors: Ondřej Lufinka, Jan Kadeřábek, Juraj Prstek, Jiří Skála, Kamil Kosturik

Abstract:

This paper deals with the problem of using Autonomous Robotic Platforms (ARP) for the ADAS (Advanced Driver Assistance Systems) testing in automotive. There are different possibilities of the testing already in development and lately, the ARP are beginning to be used more and more widely. ARP discussed in this paper explores the hardware and software design possibilities related to the field of embedded systems. The paper focuses in its chapters on the introduction of the problem in general, then it describes the proposed prototype concept and its principles from the embedded HW and SW point of view. It talks about the key features that can be used for the innovation of these platforms (e.g., modularity, omnidirectional movement, common and non-traditional sensors used for localization, synchronization of more platforms and cars together or safety mechanisms). In the end, the future possible development of the project is discussed as well.

Keywords: ADAS Systems, autonomous robotic platform, embedded systems, hardware, localization, modularity, multiple robots synchronization, omnidirectional movement, safety mechanisms, software.

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13 The Design of Broadband 8x2 Phased Array 5G Antenna MIMO 28 GHz for Base Station

Authors: Muhammad Saiful Fadhil Reyhan, Yusnita Rahayu, Fadhel Muhammadsyah

Abstract:

This paper proposed a design of 16 elements, 8x2 linear fed patch antenna array with 16 ports, for 28 GHz, mm-wave band 5G for base station. The phased array covers along the azimuth plane to provide the coverage to the users in omnidirectional. The proposed antenna is designed RT Duroid 5880 substrate with the overall size of 85x35.6x0.787 mm3. The array is operating from 27.43 GHz to 28.34 GHz with a 910 MHz impedance bandwidth. The gain of the array is 18.3 dB, while the suppression of the side lobes is -1.0 dB. The main lobe direction of the array is 15 deg. The array shows a high array gain throughout the impedance bandwidth with overall of VSWR is below 1.12. The design will be proposed in single element and 16 elements antenna.

Keywords: 5G antenna, 28 GHz, MIMO, omnidirectional, phased array, base station, broadband.

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12 Reductive Control in the Management of Redundant Actuation

Authors: Mkhinini Maher, Knani Jilani

Abstract:

We present in this work the performances of a mobile omnidirectional robot through evaluating its management of the redundancy of actuation. Thus we come to the predictive control implemented.

The distribution of the wringer on the robot actions, through the inverse pseudo of Moore-Penrose, corresponds to a « geometric ›› distribution of efforts. We will show that the load on vehicle wheels would not be equi-distributed in terms of wheels configuration and of robot movement.

Thus, the threshold of sliding is not the same for the three wheels of the vehicle. We suggest exploiting the redundancy of actuation to reduce the risk of wheels sliding and to ameliorate, thereby, its accuracy of displacement. This kind of approach was the subject of study for the legged robots.

Keywords: Mobile robot, actuation, redundancy, omnidirectional, inverse pseudo Moore-Penrose, reductive control.

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11 Low-Cost Mechatronic Design of an Omnidirectional Mobile Robot

Authors: S. Cobos-Guzman

Abstract:

This paper presents the results of a mechatronic design based on a 4-wheel omnidirectional mobile robot that can be used in indoor 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. Moreover, 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 and hardware selected. The mechatronic system is evaluated and 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 a python program has been implemented to access 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.

Keywords: Autonomous, indoor robot, mechatronic, omnidirectional robot.

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10 High Gain Circularly Polarized Wire Antenna for DSRC Applications

Authors: Mohammad J. Almalkawi

Abstract:

In this communication, a low-cost circularly polarized wire antenna exhibiting improved gain performance for Dedicated Short Range Communications (DSRC), vehicle-to-vehicle (V2V) and vehicle-to-infrastructure (V2I) communications is presented. The proposed antenna comprises a Y-shaped quarterwavelength monopole antenna surrounded by two iterations of eight conductive arched walls acting as parasitic elements to enhance the overall antenna gain and to shape the radiation pattern in the H-plane. A hemispherical radome shell is added to protect the antenna structure and its effect on the antenna performance is discussed. The designed antenna demonstrates antenna gain of 8.2 dB with omnidirectional far-field radiation pattern in the H-plane. The gain of the proposed antenna is also compared with the characteristic of the stand-alone Y-shaped monopole to highlight the advantages of the proposed approach.

Keywords: Circularly polarized, dedicated short-range communication, omnidirectional pattern, vehicle-to-infrastructure (V2I), vehicle-to-vehicle (V2V), Y-shaped wire monopole antenna.

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9 Collaborative Tracking Control of UAV-UGV

Authors: Jae-Young Choi, Sung-Gaun Kim

Abstract:

This paper suggests a fast and stable Target Tracking system in collaborative control of UAV and UGV. Wi-Fi communication range is limited in collaborative control of UAV and UGV. Thus, to secure a stable communications, UAV and UGV have to be kept within a certain distance from each other. But existing method which uses UAV Vertical Camera to follow the motion of UGV is likely to lose a target with a sudden movement change. Eventually, UGV has disadvantages that it could only move at a low speed and not make any sudden change of direction in order to keep track of the target. Therefore, we suggest utilizing AR Drone UAV front camera to track fast-moving and Omnidirectional Mecanum Wheel UGV.

Keywords: Collaborative control, UAV, UGV, Target Tracking.

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8 Localization by DKF Multi Sensor Fusion in the Uncertain Environments for Mobile Robot

Authors: Omid Sojodishijani, Saeed Ebrahimijam, Vahid Rostami

Abstract:

This paper presents an optimized algorithm for robot localization which increases the correctness and accuracy of the estimating position of mobile robot to more than 150% of the past methods [1] in the uncertain and noisy environment. In this method the odometry and vision sensors are combined by an adapted well-known discrete kalman filter [2]. This technique also decreased the computation process of the algorithm by DKF simple implementation. The experimental trial of the algorithm is performed on the robocup middle size soccer robot; the system can be used in more general environments.

Keywords: Discrete Kalman filter, odometry sensor, omnidirectional vision sensor, Robot Localization.

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7 Cooperative Multi Agent Soccer Robot Team

Authors: Vahid Rostami, Saeed Ebrahimijam, P.khajehpoor, P.Mirzaei, Mahdi Yousefiazar

Abstract:

This paper introduces our first efforts of developing a new team for RoboCup Middle Size Competition. In our robots we have applied omni directional based mobile system with omnidirectional vision system and fuzzy control algorithm to navigate robots. The control architecture of MRL middle-size robots is a three layered architecture, Planning, Sequencing, and Executing. It also uses Blackboard system to achieve coordination among agents. Moreover, the architecture should have minimum dependency on low level structure and have a uniform protocol to interact with real robot.

Keywords: Robocup, Soccer robots, Fuzzy controller, Multi agent.

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6 Capacity Enhancement in Wireless Networks using Directional Antennas

Authors: Sedat Atmaca, Celal Ceken, Ismail Erturk

Abstract:

One of the biggest drawbacks of the wireless environment is the limited bandwidth. However, the users sharing this limited bandwidth have been increasing considerably. SDMA technique which entails using directional antennas allows to increase the capacity of a wireless network by separating users in the medium. In this paper, it has been presented how the capacity can be enhanced while the mean delay is reduced by using directional antennas in wireless networks employing TDMA/FDD MAC. Computer modeling and simulation of the wireless system studied are realized using OPNET Modeler. Preliminary simulation results are presented and the performance of the model using directional antennas is evaluated and compared consistently with the one using omnidirectional antennas.

Keywords: Directional Antenna, TDMA, SDMA,

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5 60 GHz Multi-Sector Antenna Array with Switchable Radiation-Beams for Small Cell 5G Networks

Authors: N. Ojaroudi Parchin, H. Jahanbakhsh Basherlou, Y. Al-Yasir, A. M. Abdulkhaleq, R. A. Abd-Alhameed, P. S. Excell

Abstract:

A compact design of multi-sector patch antenna array for 60 GHz applications is presented and discussed in details. The proposed design combines five 1x8 linear patch antenna arrays, referred to as sectors, in a multi-sector configuration. The coaxial-fed radiation elements of the multi-sector array are designed on 0.2 mm Rogers RT5880 dielectrics. The array operates in the frequency range of 58-62 GHz and provides switchable directional/omnidirectional radiation beams with high gain and high directivity characteristics. The designed multi-sector array exhibits good performances and could be used in the fifth generation (5G) cellular networks.

Keywords: MM-wave communications, multi-sector array, patch antenna, small cell networks.

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4 Gimbal Structure for the Design of 3D Flywheel System

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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3 Gimbal Structure for the Design of 3D Flywheel System

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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2 Reactive Neural Control for Phototaxis and Obstacle Avoidance Behavior of Walking Machines

Authors: Poramate Manoonpong, Frank Pasemann, Florentin Wörgötter

Abstract:

This paper describes reactive neural control used to generate phototaxis and obstacle avoidance behavior of walking machines. It utilizes discrete-time neurodynamics and consists of two main neural modules: neural preprocessing and modular neural control. The neural preprocessing network acts as a sensory fusion unit. It filters sensory noise and shapes sensory data to drive the corresponding reactive behavior. On the other hand, modular neural control based on a central pattern generator is applied for locomotion of walking machines. It coordinates leg movements and can generate omnidirectional walking. As a result, through a sensorimotor loop this reactive neural controller enables the machines to explore a dynamic environment by avoiding obstacles, turn toward a light source, and then stop near to it.

Keywords: Recurrent neural networks, Walking robots, Modular neural control, Phototaxis, Obstacle avoidance behavior.

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1 Globalization and Public Policy Analysis: A Case Study of Foreign Policy of ASEAN Member States

Authors: Nattapol Pourprasert

Abstract:

This study has an objective to analyze foreign policy of member states in globalization current, aiming to answer that the foreign policy of member states have been changed or remained the same and there are any factors affecting changing of foreign policy of the member states. From the study results, it is found that the foreign policy of Thailand is a friendly foreign policy with all states. The policy of Indonesia is more opened because of a change in leader, allowing more democratic development in the country; the government has proceeded with friendly foreign policy with the states in order to bring funds into the state. The foreign policy of Malaysia is not much changed as there is no changing in the leader; the policy of Malaysia has reconciled relations with main city of Indian and Chinese residing in the country in order to bring investments into the country and to relieve tensions in the country. The foreign policy of the Philippines has proceeded with policy under the ASEAN framework and emphasized on international Islam communities. The foreign policy of Singapore has the least changed as the Singapore's policy focuses on internal trade since the state was found. As for the foreign policy of Brunei Darussalam, Brunei has a little role in the international stage; the state having closest relationship as from the view of history is Singapore as the Singaporean has invested in retailing business in Brunei. The foreign policy of Vietnam has emphasized on an omnidirectional foreign policy in order to compete with several states in global stage. The foreign policy of Myanmar has proceeded with a friendly foreign policy with all ASEAN member states, the East-west Corridor transportation line from Myanmar through Thailand and Lao to Vietnam has been developed. As for the foreign policy of Lao, In 2001, the Thai government and Lao government held a discussion which Thailand reaffirmed the position not to support the anti-Lao group. The foreign policy of Cambodia has proceeded with more openness, having good relation with China, Russia and USA as these states has invested in the state, especially the US company.

Keywords: Globalization, Public Policy Analysis, Foreign Policy, ASEAN Member States.

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