Prototyping an autonomous delivery vehicle

2018 ◽  
Vol 66 (2) ◽  
pp. 160-182
Author(s):  
Benjamin C. Heinrich ◽  
Thorsten Luettel ◽  
Dennis Fassbender ◽  
Patrick Burger ◽  
Felix Ebert ◽  
...  
Keyword(s):  
Test Facility ◽  
Sensor Calibration ◽  
Software Components ◽  
Delivery Vehicle ◽  
Planning And Control ◽  
Custom Made ◽  
Position And Orientation ◽  
High Level ◽  
Control Modules ◽  
And Control

AbstractIn this paper, we describe the hardware and software components of a fully autonomous prototype delivery vehicle. Equipped with a robotic arm, the demonstrator is capable of delivering packages and picking up new ones by interacting with custom-made delivery boxes. As highly accurate positioning w. r. t. a box is required for successful handover of packages, we track the pose (position and orientation) of the box using a high-resolution on-board camera. The resulting estimate is relayed to our planning and control modules, which ensure that the vehicle reaches its required pose with centimeter-level accuracy.In order to deliver packages, the car needs to autonomously navigate our test facility, avoiding static and dynamic obstacles while obeying simple traffic rules. As one focus is on the practical challenges encountered when building a prototype, we cover issues ranging from sensor calibration and system identification to perception, planning, control, and the implementation of high-level behaviors. While some of the proposed solutions to these problems are not necessarily novel, they allowed us to demonstrate the vehicle’s capabilities after a development phase of less than 12 months.

A Sensor-Driven Approach to Distributed Shop Floor Planning and Control

2003 ◽  
Author(s):  
Lihui Wang ◽  
Weiming Shen ◽  
Xiaoqian Li ◽  
Sherman Lang
Keyword(s):  
Shop Floor ◽  
Seamless Integration ◽  
Intelligent Sensor ◽  
Planning And Control ◽  
Intelligent Sensors ◽  
System A ◽  
Floor Planning ◽  
High Level ◽  
And Control ◽  
Made In

The objective of this research is to develop methodology and framework for distributed shop floor planning, real-time monitoring, and remote device control supported by intelligent sensors. An intelligent sensor serves runtime data from bottom up to facilitate high-level decision-making. It assures that correct decisions are made in a timely manner, if compared with the best estimations of engineers. Being an adaptive system, a so-designed framework will improve the flexibility and dynamism of shop floor operations, and provide a seamless integration among process planning, resource scheduling, job execution, process monitoring, and device control. This paper presents principles of the methodology, details in architecture design, module interactions, information flow, and a proof-of-concept prototype implementation.

On-Line Reconfigurable Machines

AI Magazine ◽  
2013 ◽  
Vol 34 (3) ◽  
Author(s):  
Lara S. Crawford
Keyword(s):  
Manufacturing Systems ◽  
Reconfigurable Manufacturing ◽  
Planning And Scheduling ◽  
Model Based ◽  
Planning And Control ◽  
Resource Reasoning ◽  
On Line ◽  
Scheduling Heuristic ◽  
High Level ◽  
And Control

A recent trend in intelligent machines and manufacturing has been toward reconfigurable manufacturing systems, which move away from the idea of a fixed factory line executing an unchanging set of operations, and toward the goal of an adaptable factory structure. The logical next challenge in this area is that of on-line reconfigurability. With this capability, machines can reconfigure while running, enable or disable capabilities in real time, and respond quickly to changes in the system or the environment (including faults). We propose an approach to achieving on-line reconfigurability based on a high level of system modularity supported by integrated, model-based planning and control software. Our software capitalizes on many advanced techniques from the artificial intelligence research community, particularly in model-based domain-independent planning and scheduling, heuristic search, and temporal resource reasoning. We describe the implementation of this design in a prototype highly modular, parallel printing system.

On-Line Reconfigurable Machines

AI Magazine ◽  
2013 ◽  
Vol 34 (3) ◽  
pp. 73-88 ◽  
Author(s):  
Lara S. Crawford ◽  
Minh Binh Do ◽  
Wheeler S. Ruml ◽  
Haitham Hindi ◽  
Craig Eldershaw ◽  
...  
Keyword(s):  
Manufacturing Systems ◽  
Reconfigurable Manufacturing ◽  
Planning And Scheduling ◽  
Model Based ◽  
Planning And Control ◽  
Resource Reasoning ◽  
On Line ◽  
Scheduling Heuristic ◽  
High Level ◽  
And Control

A recent trend in intelligent machines and manufacturing has been toward reconfigurable manufacturing systems, which move away from the idea of a fixed factory line executing an unchanging set of operations, and toward the goal of an adaptable factory structure. The logical next challenge in this area is that of on-line reconfigurability. With this capability, machines can reconfigure while running, enable or disable capabilities in real time, and respond quickly to changes in the system or the environment (including faults). We propose an approach to achieving on-line reconfigurability based on a high level of system modularity supported by integrated, model-based planning and control software. Our software capitalizes on many advanced techniques from the artificial intelligence research community, particularly in model-based domain-independent planning and scheduling, heuristic search, and temporal resource reasoning. We describe the implementation of this design in a prototype highly modular, parallel printing system.

Panel Instrumentation and Control Modules of the Future

1971 ◽  
Vol 4 (4) ◽  
pp. T59-T63
Author(s):  
J. Eric Yates
Keyword(s):  
Machine Language ◽  
Plain Language ◽  
Data Logging ◽  
Automatic Data ◽  
Language Programs ◽  
Alternative Means ◽  
Analog Systems ◽  
High Level ◽  
Control Modules ◽  
And Control

The interface problems between Process, Plant Engineers and Operators are briefly examined and alternative means of achieving high density displays for digital and analog systems are described. Reductions in displayed information are forecast with a high degree of Automatic Data Logging. ‘High Level’ plain language programs are predicted in much simpler forms with translation into ‘Machine Language’ effected by built-in compilers. Essential programs will be hard wired into systems.

scholarly journals Exponential Stabilization of Fully Actuated Planar Bipedal Robotic Walking With Global Position Tracking Capabilities

2017 ◽  
Vol 140 (5) ◽  
Author(s):  
Yan Gu ◽  
Bin Yao ◽  
C. S. George Lee
Keyword(s):  
Tracking Error ◽  
Feedback Controller ◽  
Position Tracking ◽  
Pattern Design ◽  
Planning And Control ◽  
Walking Pattern ◽  
The Right ◽  
High Level ◽  
And Control ◽  
Pattern Tracking

This paper focuses on the development of a model-based feedback controller to realize high versatility of fully actuated planar bipedal robotic walking. To conveniently define both symmetric and asymmetric walking patterns, we propose to use the left and the right legs for gait characterization. In addition to walking pattern tracking error, a biped's position tracking error in Cartesian space is included in the output function in order to enable high-level task planning and control such as multi-agent coordination. A feedback controller based on input–output linearization and proportional–derivative control is then synthesized to realize exponential tracking of the desired walking pattern as well as the desired global position trajectory. Sufficient stability conditions of the hybrid time-varying closed-loop system are developed based on the construction of multiple Lyapunov functions. In motion planning, a new method of walking pattern design is introduced, which decouples the planning of global motion and walking pattern. Finally, simulation results on a fully actuated planar biped show the effectiveness of the proposed walking strategy.

A Randomized Controlled Trial of Two Types of In-Shoe Orthoses in Children with Flexible Excess Pronation of the Feet

2007 ◽  
Vol 28 (6) ◽  
pp. 715-723 ◽  
Author(s):  
Deirdre Whitford ◽  
Adrian Esterman
Keyword(s):  
Controlled Trial ◽  
Group Analysis ◽  
Treatment Groups ◽  
Custom Made ◽  
Foot Pronation ◽  
Trends Over Time ◽  
Baseline Characteristics ◽  
High Level ◽  
And Control ◽  
Exercise Efficiency

Background: Orthoses for children with flexible excess pronation are estimated to cost Australian parents millions of dollars per year; however, there is no high-level evidence that orthoses improve function or reduce pain. Methods: A randomized parallel, single-blinded, controlled trial of custom-made and ready-made orthoses was conducted in children between the ages of 7 and 11 years with bilateral flexible excess pronation. The diagnosis was based on calcaneal eversion and navicular drop. Outcomes included gross motor proficiency, self-perception, exercise efficiency, and pain. Measurements were taken at baseline, and at 3 and 12 months. Of the 178 children who participated at baseline, 160 continued to the end of the trial. Results: After randomization, baseline characteristics were similar between the three treatment groups (custom-made, ready-made, and control). Statistical modeling demonstrated that although for most outcome measures there were statistically significant trends over time, none of the group comparisons were statistically significant. A sub-group analysis of those presenting with pain found no significant differences at 3 or 12 months. Conclusions: This study found no evidence to justify the use of in-shoe orthoses in the management of flexible excess foot pronation in children.

scholarly journals Design of a Hyper-Redundant Robot and Teleoperation Using Mixed Reality for Inspection Tasks

Sensors ◽  
2020 ◽  
Vol 20 (8) ◽  
pp. 2181 ◽  
Author(s):  
Andrés Martín-Barrio ◽  
Juan Jesús Roldán-Gómez ◽  
Iván Rodríguez ◽  
Jaime del Cerro ◽  
Antonio Barrientos
Keyword(s):  
Degrees Of Freedom ◽  
Mixed Reality ◽  
Control Strategies ◽  
Redundant Robots ◽  
Spatial Understanding ◽  
Custom Made ◽  
Inspection Tasks ◽  
High Level ◽  
And Control ◽  
Immersive Technologies

Hyper-redundant robots are highly articulated devices that present numerous technical challenges such as their design, control or remote operation. However, they offer superior kinematic skills than traditional robots for multiple applications. This work proposes an original and custom-made design for a discrete and hyper-redundant manipulator. It is comprised of 7 sections actuated by cables and 14 degrees of freedom. It has been optimized to be very robust, accurate and capable of moving payloads with high dexterity. Furthermore, it has been efficiently controlled from the actuators to high-level strategies based on the management of its shape. However, these highly articulated systems often exhibit complex shapes that frustrate their spatial understanding. Immersive technologies emerge as a good solution to remotely and safely teleoperate the presented robot for an inspection task in a hazardous environment. Experimental results validate the proposed robot design and control strategies. As a result, it is concluded that hyper-redundant robots and immersive technologies should play an important role in the near future of automated and remote applications.

A Connectionist Model May Shed Light on Neural Mechanisms for Visually Guided Reaching

1991 ◽  
Vol 3 (3) ◽  
pp. 273-292 ◽  
Author(s):  
Bartlett W. Mel
Keyword(s):  
Cerebral Cortex ◽  
Parietal Lobe ◽  
Connectionist Model ◽  
Visually Guided ◽  
Conceptual Tool ◽  
Planning And Control ◽  
Connectionist System ◽  
Cortical Models ◽  
High Level ◽  
And Control

Formal principles of vision-based planning and control of arm movements are used to gain insight into the neurobio-logical mechanisms that underlie this important class of sen-sorimotor behavior. The primary conceptual tool used in this work has been a neurally inspired connectionist system called MURPHY that learns to reach for visual targets among obstacles, crudely based on the style of architecture and representations in sensory and motor areas of cerebral cortex. This system has provided a concrete implementation that demonstrates how areas of cerebral cortex could in principle interact to direct both sensory-locked and internally planned reaching movements. We use MURPHY'S simple, artificial “cortex” as a point of departure in the development of two high-level cortical models for visual limb control, involving the supplementary motor area (SMA), areas 5 and 7 of the posterior parietal lobe, and several visually responsive areas including V2, PO, and areas TPO and STP in the upper bank of the superior temporal sulcus.

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