A First Implementation of an Advanced 3D Interface to Control and Supervise UAV (Uninhabited Aerial Vehicles) Missions

2009 ◽  
Vol 18 (3) ◽  
pp. 171-184 ◽  
Author(s):  
Francesca De Crescenzio ◽  
Giovanni Miranda ◽  
Franco Persiani ◽  
Tiziano Bombardi
Keyword(s):  
Effective Interaction ◽  
Touch Screen ◽  
System Control ◽  
Audio Feedback ◽  
Feedback Message ◽  
Planning Algorithm ◽  
Virtual Display ◽  
Uninhabited Aerial Vehicles ◽  
High Level ◽  
Complex Scenario

Recent analyses on the uninhabited aerial vehicle (UAV) accidents revealed that several kinds of human-system control problems occur in current UAV missions. Therefore, a design of the man–machine interface that allows for an efficient and effective interaction between the operator and the remote vehicle becomes one of the challenges in the development of more reliable UAVs. This paper presents a first implementation of an advanced interface for UAV ground control station based on a touch screen, a 3D virtual display, and an audio feedback message generator. The touch screen is used to send high level commands to the vehicle, the 3D virtual display provides a stereoscopic and augmented visualization of the complex scenario in which the vehicle operates, and the audio feedback message generator informs the operator about any change in operational scenario. The hardware/software architecture of the interface also includes a planning algorithm and a generic vehicle model. The interface has been tested by simulating several UAV missions. The results have shown that the interface requires an adequate level of workload to command the vehicle and allows the operator to build a good level of awareness of the state of the vehicle under his or her control, as well as of the environment in which it operates.

New construction ideas for special housing complexes

2019 ◽  
Author(s):  
Franco Mola ◽  
Antonio Migliacci ◽  
Elena Mola ◽  
Alejandro Erick Antelo ◽  
Riccardo Soffientini
Keyword(s):  
Primary Objective ◽  
Design Guidelines ◽  
Distinctive Features ◽  
City Environment ◽  
New Construction ◽  
Design Idea ◽  
High Level ◽  
Complex Scenario ◽  
Structural Solutions ◽  
Design Construction

<p>The problems concerning the design, construction and use of buildings in a city environment or even other, less dense, environments, constitute a complex scenario in which various different disciplines are called to give their contribution: energy efficiency, reduction of the footprint, comfort, affordability and new living standards all play a key role in the design of new housing solutions. In the present paper, a new design idea is presented for the construction of buildings, capable of guaranteeing a high level of comfort for the users while safeguarding the surrounding territory. The proposed system, named GEODE, consists of a 120m diameter spherical steel or concrete structure with internal cores acting as shear-resistant elements. The shell contains five decks supported by mega-beams, on which 5-story high buildings can be erected, following design guidelines that have as a primary objective the preservation of high livability conditions. Among the defining characteristics of the system are its enhanced performance with respect to buildings of equal volume but different shape and the possibility of building the spherical shell using two different structural materials. These are distinctive features, which allow for the construction of small self-sufficient cities that synergically interact with their surrounding environment. In the present paper, an initial feasibility study is presented while the performance of different possible structural solutions, i.e. using R.C. or steel elements, are compared.</p>

scholarly journals RTPO: A Domain Knowledge Base for Robot Task Planning

Electronics ◽  
2019 ◽  
Vol 8 (10) ◽  
pp. 1105 ◽  
Author(s):  
Sun ◽  
Zhang ◽  
Chen
Keyword(s):  
Knowledge Base ◽  
Domain Knowledge ◽  
Task Planning ◽  
Specific Domain ◽  
Goal State ◽  
Ontology Language ◽  
Planning Algorithm ◽  
Domain Knowledge Base ◽  
Robot Task ◽  
High Level

Knowledge can enhance the intelligence of robots’ high-level decision-making. However, there is no specific domain knowledge base for robot task planning in this field. Aiming to represent the knowledge in robot task planning, the Robot Task Planning Ontology (RTPO) is first designed and implemented in this work, so that robots can understand and know how to carry out task planning to reach the goal state. In this paper, the RTPO is divided into three parts: task ontology, environment ontology, and robot ontology, followed by a detailed description of these three types of knowledge, respectively. The OWL (Web Ontology Language) is adopted to represent the knowledge in robot task planning. Then, the paper proposes a method to evaluate the scalability and responsiveness of RTPO. Finally, the corresponding task planning algorithm is designed based on RTPO, and then the paper conducts experiments on the basis of the real robot TurtleBot3 to verify the usability of RTPO. The experimental results demonstrate that RTPO has good performance in scalability and responsiveness, and the robot can achieve given high-level tasks based on RTPO.

A Unified Approach for Multi-Point Cartesian Compliance Control of Serial Manipulators

2010 ◽  
Author(s):  
Phongsaen Pitakwatchara
Keyword(s):  
Generalized Inverse ◽  
Impedance Control ◽  
Level Control ◽  
Unified Approach ◽  
Relative Priority ◽  
Multiple Points ◽  
Serial Manipulators ◽  
Control Scheme ◽  
Planning Algorithm ◽  
High Level

This paper proposes a unified approach for controlling the Cartesian compliance of multiple points assigned along the linkage chains of the manipulator. The method applies two key frameworks. Task-priority based control is used to synergistically plan the tasks of the advanced manipulation according to their relative priority. Then, the impedance control scheme is employed for implementing the controller. Additionally, with the use of generalized inverse theory throughout the development, the method is capable of controlling the manipulator at the singularities seamlessly. This low-level control system may be integrated with the high-level manipulation planning algorithm, which generates the online dynamical tasks based on the desired behavior and the sensor information, to accomplish the demanding operation.

scholarly journals An Efficient Energy Constraint Based UAV Path Planning for Search and Coverage

2017 ◽  
Vol 2017 ◽  
pp. 1-13 ◽  
Author(s):  
German Gramajo ◽  
Praveen Shankar
Keyword(s):  
Path Planning ◽  
Planning Strategy ◽  
Mission Duration ◽  
Terminal Constraints ◽  
Spatial Coverage ◽  
Small Uav ◽  
Optimization Parameters ◽  
Planning Algorithm ◽  
High Level ◽  
Path Planning Algorithm

A path planning strategy for a search and coverage mission for a small UAV that maximizes the area covered based on stored energy and maneuverability constraints is presented. The proposed formulation has a high level of autonomy, without requiring an exact choice of optimization parameters, and is appropriate for real-time implementation. The computed trajectory maximizes spatial coverage while closely satisfying terminal constraints on the position of the vehicle and minimizing the time of flight. Comparisons of this formulation to a path planning algorithm based on those with time constraint show equivalent coverage performance but improvement in prediction of overall mission duration and accuracy of the terminal position of the vehicle.

scholarly journals Implementation of a Potential Field-Based Decision-Making Algorithm on Autonomous Vehicles for Driving in Complex Environments

Sensors ◽  
2019 ◽  
Vol 19 (15) ◽  
pp. 3318 ◽  
Author(s):  
Carlos Martínez ◽  
Felipe Jiménez
Keyword(s):  
Autonomous Vehicles ◽  
Vision System ◽  
Autonomous Driving ◽  
Road User ◽  
Measurement Unit ◽  
Maximum Speed ◽  
The Road ◽  
Planning Algorithm ◽  
High Level ◽  
Path Planning Algorithm

Autonomous driving is undergoing huge developments nowadays. It is expected that its implementation will bring many benefits. Autonomous cars must deal with tasks at different levels. Although some of them are currently solved, and perception systems provide quite an accurate and complete description of the environment, high-level decisions are hard to obtain in challenging scenarios. Moreover, they must comply with safety, reliability and predictability requirements, road user acceptance, and comfort specifications. This paper presents a path planning algorithm based on potential fields. Potential models are adjusted so that their behavior is appropriate to the environment and the dynamics of the vehicle and they can face almost any unexpected scenarios. The response of the system considers the road characteristics (e.g., maximum speed, lane line curvature, etc.) and the presence of obstacles and other users. The algorithm has been tested on an automated vehicle equipped with a GPS receiver, an inertial measurement unit and a computer vision system in real environments with satisfactory results.

Future role of high level languages in power system control centers

1988 ◽  
Vol 3 (3) ◽  
pp. 1206-1212 ◽  
Author(s):  
J.L. Scheidt ◽  
M.K. Enns ◽  
S.A. Klein ◽  
S.E. Miller ◽  
S.C. Savulescu
Keyword(s):  
Power System ◽  
System Control ◽  
Future Role ◽  
Power System Control ◽  
High Level

Robotic Finishing of Interior Regions of Geometrically Complex Parts

2018 ◽  
Author(s):  
Ariyan M. Kabir ◽  
Aniruddha V. Shembekar ◽  
Rishi K. Malhan ◽  
Rohil S. Aggarwal ◽  
Joshua D. Langsfeld ◽  
...  
Keyword(s):  
Human Operator ◽  
Surface Finishing ◽  
Complex Geometries ◽  
Task Requirements ◽  
Planning Algorithm ◽  
Human Operators ◽  
High Level ◽  
Complex Parts ◽  
Programming Time ◽  
And Task

Surface finishing is an important manufacturing process. Many parts with complex geometries require finishing of internal regions before they can be used. In small and medium volume productions most of the finishing tasks are non-repetitive in nature, and have to be performed manually. These finishing operations for parts with complex geometries can be quite labor intensive, and may pose risk to humans. We have developed a collaborative finishing system where human operators work on high level decision making, and the robot assistants carry out the labor intensive low level finishing tasks. The human operator guides the robotic system by transferring operator knowledge through a user interface. Our system generates instructions for the robots based on the user inputs and task requirements. We have also developed a planning algorithm that automatically computes the paths for the robots by using the CAD model of the part. This significantly reduces the robot programming time and improves the efficiency of the finishing system. If needed, the system seeks help from the human operator by generating notifications.

scholarly journals Energy Storage System Control for Energy Management in Advanced Aeronautic Applications

2017 ◽  
Vol 2017 ◽  
pp. 1-9 ◽  
Author(s):  
A. Cavallo ◽  
G. Canciello ◽  
B. Guida
Keyword(s):  
Energy Management ◽  
High Voltage ◽  
Control Strategy ◽  
Storage System ◽  
Electric Energy ◽  
Gain Control ◽  
Energy Storage System ◽  
High Gain ◽  
System Control ◽  
High Level

In this paper an issue related to electric energy management on board an aircraft is considered. A battery pack is connected to a high-voltage bus through a controlled Battery Charge/Discharge Unit (BCDU) that makes the overall behaviour of the battery “intelligent.” Specifically, when the aeronautic generator feeding the high-voltage bus has enough energy the battery is kept under charge, while if more loads are connected to the bus, so that the overload capacity of the generator is exceeded, the battery “helps” the generator by releasing its stored energy. The core of the application is a robust, supervised control strategy for the BCDU that automatically reverts the flow of power in the battery, when needed. Robustness is guaranteed by a low-level high gain control strategy. Switching from full-charge mode (i.e., when the battery absorbs power from the generator) to generator mode (i.e., when the battery pumps energy on the high-voltage bus) is imposed by a high-level supervisor. Different from previous approaches, mathematical proofs of stability are given for the controlled system. A switching implementation using a finite-time convergent controller is also proposed. The effectiveness of the proposed strategy is shown by detailed simulations in Matlab/Stateflow/SimPowerSystem.

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