Design of an advanced robotic vehicle evaluation laboratory

Robotica ◽  
1989 ◽  
Vol 7 (4) ◽  
pp. 281-287
Author(s):  
Richard E. Jarka ◽  
Zeinab A. Sabri ◽  
S. Keith Adams ◽  
Enju Liang ◽  
Michael Barnett ◽  
...  

SUMMARYRobotic vehicles have a wide field of applications in the civilian and military industry including manufacturing, assembly lines, security, operation in hostile environment, and testing. In the defense area, robotic vehicles have the potential for force multiplication and removing the soldier from hazardous environments on the battlefield. To make such vehicles avaialable requires research, development, testing and demonstration of advanced robotics and artificial intelligence (AI) technologies and systems. A realistic effort towards that objective requires the establishment of an advanced laboratory responsible for evaluation and development of subsystems and integration of the various elements into vehicles for field tests. Hence, requirements for the laboratory are given including a layout design and link analysis of the different components. As the first part of planning the laboratory, the technology was assessed to assure inclusion of the state-of-the-art equipment. Then, equipment requirements were defined, including interactions between pieces of equipment and providing for support, recording and monitoring equipment.

Author(s):  
Wellington E. Smith

Many processing systems, such as manufacturing assembly lines, can be described as a series of discrete operations performed on discrete units being processed. To evaluate the effectiveness of operators in such systems or to determine the best way to improve their performance, it is necessary to have a performance measure that relates to total system effectiveness. Current techniques measure operator performance in terms of time and errors, but they provide little predictive ability as to the effects of these parameters. To relate time and yield measures to a single criterion of system performance, a method has been developed for evaluating operator effectiveness in a series processing system that processes discrete items in large quantities. By recognizing and dealing with the fact that rejects at the end of series process are more expensive than at the beginning of the process, statements are developed for measuring performance in terms of its actual effect on the system. Concepts and methods are presented for measuring total system performance, performance of any segment of the system, total performance of any operator, and the effects of time and accuracy on operator performance.


Author(s):  
Miaolei He ◽  
Changji Ren ◽  
Jilin He ◽  
Kang Wu ◽  
Yuming Zhao ◽  
...  

Purpose Excellent obstacle surmounting performance is essential for the robotic vehicles in uneven terrain. However, existing robotic vehicles depend on complex mechanisms or control algorithms to surmount an obstacle. Therefore, this paper aims to propose a new simple configuration of an all-terrain robotic vehicle with eight wheels including four-swing arms. Design/methodology/approach This vehicle is driven by distributed hydraulic motors which provide high mobility. It possesses the ability to change the posture by means of cooperation of the four-swing arms. This ensures that the vehicle can adapt to complex terrain. In this paper, the bionic mechanism, control design and steering method of the vehicle are introduced. Then, the kinematic model of the center of gravity is studied. Afterward, the obstacle surmounting performance based on a static model is analyzed. Finally, the simulation based on ADAMS and the prototype experiment is carried out. Findings The experiment results demonstrate that the robotic vehicle can surmount an obstacle 2.29 times the height of the wheel radius, which verifies the feasibility of this new configuration. Therefore, this vehicle has excellent uneven terrain adaptability. Originality/value This paper proposes a new configuration of an all-terrain robotic vehicle with four-swing arms. With simple mechanism and control algorithms, the vehicle has a high efficiency of surmounting an obstacle. It can surmount a vertical obstacle 2.29 times the height of the wheel radius.


2021 ◽  
Author(s):  
◽  
Sasathorn Inthasuwan

<p>Thailand’s Bangkok has experienced rapid population growth and subsequent expansion over recent decades. It has resulted in an unintentional increase in vulnerability within rural-residential and metropolis areas. Flood prevention strategies, such as dams, irrigation canals, and flood detention basin, and Kaem Ling ‘Green belt Embankment’, have been slowly built and activated in response to this suburban catastrophe (Vanno). In recent years, King Rama IX of Thailand, initiated Kaem Ling’s, ‘Monkey’s Cheek’s’ project; a reference to the common parable of an intelligent monkey storing its food in its saggy cheeks rather than swallowing. This has allowed the Western and Eastern suburbs of Bangkok to function as waterways, diverting the destructive water paths away to protect the metropolis.  Beginning in July 2011, a significant rainfall from the highlands of Thailand flooded down to Bangkok. With affected areas lying less than 10 metres above mean sea level and some as low as 1.5 metres, some areas remained flooded until January 2012. By October, the inundated metropolitan Bangkok began to negatively impact on industries, such as computers and automotive. Both critical supply networks for other manufacturing operations outside of Thailand. This ‘vulnerability’ where the inter-connectedness of economies could mean the closing of factories and manufacturing assembly lines in one country because of a flooding disaster in another had not been recognised.   The 2011 Thailand’s flooding death tolls surpassed 815 deaths (with 3 missing), affected 13.6 million people and classed 65 of Thailand’s 77 provinces as flood disaster zones (Benfield, 2012). During the extreme environmental activity, decisions were made to close several district gates in last-ditch efforts for protecting the metropolitan areas. This caused many other peri-urban areas of Bangkok to flood. These suburban areas were intended to act as waterways to protect the metropolis, but instead became a reservoir. Nimitmai 40 Road, situated in Khlong Sam Wa district, was in the middle of the 2011 flooding zones became the locus and main area of interest in this research.  Several initial studies, of precedence and technical data, explored objectives of building resilience in response to flooding and community. This research further utilised field study surveys, interviews, and case studies, all of which provided a wealth of information and contextual material. They contributed to design propositions developed through a series of critical reflections.  This research aimed to build community resilience, encapsulating spiritual elements in cultural and psychosocial elements of suburban Thai community’s livelihood and to provide flood resilience through both non-technical and technical solutions. Final outcomes of the design iterations suggested a merging of Thai monastery and community centre as a spiritual anchor for the community’s resilience and strengthen my neighbourhood’s sense of place.</p>


2018 ◽  
Vol 2018 ◽  
pp. 1-10 ◽  
Author(s):  
Weitian Wang ◽  
Rui Li ◽  
Longxiang Guo ◽  
Z. Max Diekel ◽  
Yunyi Jia

Intelligent robotic vehicles are more and more fully automated, without steering wheels, gas/brake pedals, or gearshifts. However, allowing the human driver to step in and maneuver the robotic vehicle under specific driving requirements is a necessary issue that should be considered. To this end, we propose a wearable-sensing-based hands-free maneuver intention understanding approach to assist the human to naturally operate the robotic vehicle without physical contact. The human intentions are interpreted and modeled based on the fuzzy control using the forearm postures and muscle activities information detected by a wearable sensory system, which incorporates electromyography (EMG) sensors and inertial measurement unit (IMU). Based on the maneuver intention understanding model, the human can flexibly, intuitively, and conveniently control diverse vehicle maneuvers only using his intention expressions. This approach was implemented by a series of experiments in the practical situations on a lab-based 1/10 robotic vehicle research platform. Experimental results and evaluations demonstrated that, by taking advantage of the nonphysical contact and natural handleability of this approach, the robotic vehicle was successfully and effectively maneuvered to finish the driving tasks with considerable accuracy and robustness in human-robotic vehicle interaction.


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