scholarly journals Gap Traversing Motion via a Hexapod Tracked Mobile Robot Based on Gap Width Detection

2021 ◽  
Vol 33 (3) ◽  
pp. 665-675
Author(s):  
Taiga Sasaki ◽  
◽  
Toyomi Fujita
Keyword(s):  
Mobile Robot ◽  
Lower Cost ◽  
Target Object ◽  
Detection Experiment ◽  
Computing Power ◽  
Depth Cameras ◽  
Laser Range Finders ◽  
Tracked Mobile Robot ◽  
Gap Width ◽  
Selection Of

The authors developed a hexapod tracked mobile robot: a tracked mobile robot which is equipped with six legs attached to the robot’s body. In a transportation task, this robot can traverse a wide gap by supporting track driving with four front and rear legs while holding the target object with its two middle legs. To realize autonomous actions with this robot, we developed a two-dimensional distance measurement system using an infrared sensor. This system is very simple, with the sensor attached to a servomotor, such that it does not require high computing power for measurement. In addition, the system can be equipped at a lower cost than laser range finders and depth cameras. This paper describes the selection of the gap traversing mode according to gap width detected by the system. In this study, we conducted a gap width detection experiment and an autonomous gap traversing experiment using the hexapod tracked mobile robot with the proposed system. The obtained results confirm the effectiveness of the proposed system and autonomous traversing, which corresponds with the gap width detection.

DEVELOPMENT OF COMPUTERIZED MONITORING AND CONTROL SYSTEM OF THE MOBILE ROBOT’S POSITIONING ON LARGE FERROMAGNETIC SURFACES BASED ON INTELLIGENT TECHNIQUES. AUTOMATION OF THE MONITORING AND CONTROL PROCESSES OF MOBILE ROBOT FOR PROCESSING OF LARGE INCLINED SURFACES

2019 ◽  
pp. 41-48
Author(s):  
Yan Guojun ◽  
Oleksiy Kozlov ◽  
Oleksandr Gerasin ◽  
Galyna Kondratenko
Keyword(s):  
Control System ◽  
Mobile Robot ◽  
Functional Structure ◽  
Monitoring And Control ◽  
Technological Parameters ◽  
Monitoring And Control System ◽  
Inclined Surfaces ◽  
Computerized Monitoring ◽  
And Control ◽  
Tracked Mobile Robot

The article renders the special features of the design of a tracked mobile robot (MR) for moving over inclined ferromagnetic surfaces while performing specified technological operations. There is conducted a synthesis of the functional structure and selective technological parameters (such as control coordinates) of the computerized monitoring and control system (CMCS) intended for use with this MR. Application of the CMCS with the proposed functional structure allows substantially increasing the accuracy of the MR monitoring and control, which in turn provides for a considerable enhancement in the quality and economic efficiency of the operations on processing of large ferromagnetic surfaces.

Automated and Adaptive Geometry Preparation for AR/VR-Applications

2021 ◽  
Author(s):  
Maximilian Peter Dammann ◽  
Wolfgang Steger ◽  
Ralph Stelzer
Keyword(s):  
Software Tool ◽  
Product Structure ◽  
Preparation Process ◽  
Data Preparation ◽  
Batch Mode ◽  
Computing Power ◽  
Time Savings ◽  
Automatic Preparation ◽  
Target Platform ◽  
Selection Of

Abstract Product visualization in AR/VR applications requires a largely manual process of data preparation. Previous publications focus on error-free triangulation or transformation of product structure data and display attributes for AR/VR applications. This paper focuses on the preparation of the required geometry data. In this context, a significant reduction in effort can be achieved through automation. The steps of geometry preparation are identified and examined with respect to their automation potential. In addition, possible couplings of sub-steps are discussed. Based on these explanations, a structure for the geometry preparation process is proposed. With this structured preparation process it becomes possible to consider the available computing power of the target platform during the geometry preparation. The number of objects to be rendered, the tessellation quality and the level of detail can be controlled by the automated choice of transformation parameters. We present a software tool in which partial steps of the automatic preparation are already implemented. After an analysis of the product structure of a CAD file, the transformation is executed for each component. Functions implemented so far allow, for example, the selection of assemblies and parts based on filter options, the transformation of geometries in batch mode, the removal of certain details and the creation of UV maps. Flexibility, transformation quality and time savings are described and discussed.

Automated and adaptive geometry preparation for ar/vr-applications

2021 ◽  
pp. 1-26
Author(s):  
Maximilian Peter Dammann ◽  
Wolfgang Steger ◽  
Ralph Stelzer
Keyword(s):  
Performance Optimization ◽  
Software Tool ◽  
Product Structure ◽  
Preparation Process ◽  
Data Preparation ◽  
Batch Mode ◽  
Computing Power ◽  
Automatic Preparation ◽  
Target Platform ◽  
Selection Of

Abstract Product visualization in AR/VR applications requires a largely manual process of data preparation. Previous publications focus on error-free triangulation or transformation of product structure data and display attributes for AR/VR applications. This paper focuses on the preparation of the required geometry data. In this context, a significant reduction in effort can be achieved through automation. The steps of geometry preparation are identified and examined concerning their automation potential. In addition, possible couplings of sub-steps are discussed. Based on these explanations, a structure for the geometry preparation process is proposed. With this structured preparation process, it becomes possible to consider the available computing power of the target platform during the geometry preparation. The number of objects to be rendered, the tessellation quality, and the level of detail can be controlled by the automated choice of transformation parameters. Through this approach, tedious preparation tasks and iterative performance optimization can be avoided in the future, which also simplifies the integration of AR/VR applications into product development and use. A software tool is presented in which partial steps of the automatic preparation are already implemented. After an analysis of the product structure of a CAD file, the transformation is executed for each component. Functions implemented so far allow, for example, the selection of assemblies and parts based on filter options, the transformation of geometries in batch mode, the removal of certain details, and the creation of UV maps. Flexibility, transformation quality, and timesavings are described and discussed.

Economy Based Resource Allocation in IaaS Cloud

2013 ◽  
Vol 3 (2) ◽  
pp. 1-11 ◽  
Author(s):  
Hemant Kumar Mehta ◽  
Eshan Gupta
Keyword(s):  
Resource Allocation ◽  
Open Source ◽  
Service Provider ◽  
Lower Cost ◽  
Optimization Techniques ◽  
Considerable Extent ◽  
Experimental Results ◽  
Computing Power ◽  
Power Storage ◽  
The Cost

Infrastructure as a Service (IaaS) offers hardware resources (computing power, storage and network) as a service to its customers. The customers order these resources in the form of a lease. Aim of any service provider is to make a leasing plan to maximize the number of accepted leases. Opennebula is popular open source toolkit for building IaaS cloud. Opennebula has its own lease manager and it can also be integrated with Haizea which is an open source lease manager. An economy based algorithm should focus on incentives of both the consumers and the providers. In this paper, an economy based leasing algorithm is developed and integrated with Haizea. This economy based algorithm takes care of incentives of both the parties i.e. customer and service provider. It uses the concept of optimization techniques to optimize the costs. The incentive for customers is lower cost of execution of its lease on the capable node as compare to existing non-economy based algorithms. If an appropriate resource is not found, then the algorithm uses negotiation on budget and resource demand; that increases the number of accepted lease. Thus, incentive for providers is an increase in profit as the amount of accepted leases increase. Experimental results show that the proposed economy based leasing algorithm reduces the cost of execution of the consumer’s lease and increases the profit of the provider to a considerable extent.

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