scholarly journals Tactics for using a Mobile Robot to Recover an Overturned wheeled Vehicle

2021 ◽  
Author(s):  
Hidetoshi Ikeda ◽  
Shinya Atoji ◽  
Manami Amemiya ◽  
Shingo Tajima ◽  
Takayoshi Kitada ◽  
...  
Keyword(s):  
Theoretical Analysis ◽  
Mobile Robot ◽  
Personal Computer ◽  
Software Package ◽  
Robot Manipulator ◽  
Experimental Results ◽  
Recovery Method ◽  
Wheeled Vehicle ◽  
Working Efficiency

Abstract This paper describes mobile robot tactics for recovering a wheeled vehicle that has overturned. If such a vehicle were to tip over backward off its wheels and become unable to recover itself, especially in areas where it would be difficult for humans to enter and work, total working efficiency could decline significantly, not only because the vehicle is no only able to perform its job, but because it becomes an obstacle to other work. Herein, we propose a robot-based recovery method that can be used to recover such overturned vehicles and demonstrates its utility. The recovery robot, which uses a mounted manipulator and hand to recover the overturned vehicle, is also equipped with a camera and a personal computer (PC). The ARToolKit software package installed on the robot-mounted PC detects ARmarkers attached to the overturned vehicle and uses the information they provide to orient itself in order to perform recovery operations. To facilitate these ARToolKit-based operations, it is necessary to conduct a theoretical analysis to clarify the distance between the robot manipulator and vehicle, and thus achieve an objective position for grasping the overturned vehicle. The experimental results obtained in this study demonstrate the effectiveness of our proposed system.

Structured Sign for Guidance of Mobile Robot

1991 ◽  
Vol 3 (5) ◽  
pp. 379-386
Author(s):  
Hesin Sai ◽  
◽  
Yoshikuni Okawa
Keyword(s):  
Image Processing ◽  
Theoretical Analysis ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Personal Computer ◽  
The Other ◽  
Guidance System ◽  
Fluorescent Light ◽  
Trajectory Following ◽  
Good Coincidence

As part of a guidance system for mobile robots operating on a wide and flat floor, such as an ordinary factory or a gymnasium, we have proposed a special-purpose sign. It consists of a cylinder, with four slits, and a fluorescent light, which is placed on the axis of the cylinder. Two of the slits are parallel to each other, and the other two are angled. A robot obtains an image of the sign with a TV camera. After thresholding, we have four bright sets of pixels which correspond to the four slits of the cylinder. We compute by measuring the relative distances between the four points, the distance and the angle to the direction of the sign can be computed using simple geometrical equations. Using a personal computer with an image processing capability, we have investigated the accuracy of the proposed position identification method and compared the experimental results against the theoretical analysis of measured error. The data shows good coincidence between the analysis and the experiments. Finally, we have built a movable robot, which has three microprocessors and a TV camera, and performed several control experiments for trajectory following.

PHOTOINDUCED NONLINEAR OCTUPOLAR POLARIZATION: TRANSIENT AND PERMANENT REGIMES

1996 ◽  
Vol 05 (04) ◽  
pp. 653-670 ◽  
Author(s):  
CÉLINE FIORINI ◽  
JEAN-MICHEL NUNZI ◽  
FABRICE CHARRA ◽  
IFOR D.W. SAMUEL ◽  
JOSEPH ZYSS
Keyword(s):  
Theoretical Analysis ◽  
Second Harmonic ◽  
Experimental Results ◽  
Polar Field ◽  
Rotational Spectrum ◽  
Dual Frequency ◽  
One Dimensional ◽  
Ethyl Violet ◽  
Disperse Red 1 ◽  
Good Agreement

An original poling method using purely optical means and based on a dual-frequency interference process is presented. We show that the coherent superposition of two beams at fundamental and second-harmonic frequencies results in a polar field with an irreducible rotational spectrum containing both a vector and an octupolar component. This enables the method to be applied even to molecules without a permanent dipole such as octupolar molecules. After a theoretical analysis of the process, we describe different experiments aiming at light-induced noncentrosymmetry performed respectively on one-dimensional Disperse Red 1 and octupolar Ethyl Violet molecules. Macroscopic octupolar patterning of the induced order is demonstrated in both transient and permanent regimes. Experimental results show good agreement with theory.

scholarly journals Research on path planning of three-neighbor search A* algorithm combined with artificial potential field

2021 ◽  
Vol 18 (3) ◽  
pp. 172988142110264
Author(s):  
Jiqing Chen ◽  
Chenzhi Tan ◽  
Rongxian Mo ◽  
Hongdu Zhang ◽  
Ganwei Cai ◽  
...  
Keyword(s):  
Path Planning ◽  
Mobile Robot ◽  
Obstacle Avoidance ◽  
Potential Field ◽  
Path Length ◽  
Search Time ◽  
Experimental Results ◽  
Artificial Potential Field ◽  
A Algorithm ◽  
Neighbor Search

Among the shortcomings of the A* algorithm, for example, there are many search nodes in path planning, and the calculation time is long. This article proposes a three-neighbor search A* algorithm combined with artificial potential fields to optimize the path planning problem of mobile robots. The algorithm integrates and improves the partial artificial potential field and the A* algorithm to address irregular obstacles in the forward direction. The artificial potential field guides the mobile robot to move forward quickly. The A* algorithm of the three-neighbor search method performs accurate obstacle avoidance. The current pose vector of the mobile robot is constructed during obstacle avoidance, the search range is narrowed to less than three neighbors, and repeated searches are avoided. In the matrix laboratory environment, grid maps with different obstacle ratios are compared with the A* algorithm. The experimental results show that the proposed improved algorithm avoids concave obstacle traps and shortens the path length, thus reducing the search time and the number of search nodes. The average path length is shortened by 5.58%, the path search time is shortened by 77.05%, and the number of path nodes is reduced by 88.85%. The experimental results fully show that the improved A* algorithm is effective and feasible and can provide optimal results.

Dynamic world modeling for a mobile robot among moving objects

Robotica ◽  
1996 ◽  
Vol 14 (5) ◽  
pp. 553-560
Author(s):  
Yuefeng Zhang ◽  
Robert E. Webber
Keyword(s):  
Mobile Robot ◽  
Hough Transform ◽  
Moving Objects ◽  
Grid Method ◽  
Experimental Results ◽  
Sensor Data ◽  
Probabilistic Estimation ◽  
Occupancy Grid ◽  
World Modeling ◽  
Grid Based

SUMMARYA grid-based method for detecting moving objects is presented. This method involves the extension and combination of two methods: (1) the Hough Transform and (2) the Occupancy Grid method. The Occupancy Grid method forms the basis for a probabilistic estimation of the location and velocity of objects in the scene from the sensor data. The Hough Transform enables the new method to handle non-integer velocity values. A model for simulating a sonar ring is also presented. Experimental results show that this method can handle objects moving at non-integer velocities.

Implementation of a High-Precision Ultrasonic Rain Gauge

2013 ◽  
Vol 300-301 ◽  
pp. 382-388
Author(s):  
Zhan Wei Xu ◽  
Gui Lin Zheng
Keyword(s):  
Theoretical Analysis ◽  
High Precision ◽  
Rain Gauge ◽  
Experimental Results ◽  
Full Description ◽  
Self Calibration ◽  
Velocity Of Ultrasound

A novel rain gauge based on acoustic self-calibration principle is proposed in the paper. Acoustic self-calibration principle can eliminate the uncertainty of the velocity of ultrasound and achieve accurate measurement of rainfall. The rain gauge not only overcomes the influence on the rainfall measurement under intensive rainfall conditions, but also improves the precision of rain gauge. Plenty of experiments have been done to validate the design. Both theoretical analysis and experimental results show the effectiveness of the rain gauge. A full description of the rain gauge and implementation are presented.

Experimental and Analytical Decentralized Adaptive Control of a 7-DOF Robot Manipulator

2020 ◽  
Author(s):  
Alexander Bertino ◽  
Peiman Naseradinmousavi ◽  
Atul Kelkar
Keyword(s):  
Adaptive Control ◽  
Control Strategy ◽  
Computational Efficiency ◽  
Tracking Control ◽  
Robot Manipulator ◽  
Problem Formulation ◽  
Experimental Results ◽  
Model Free ◽  
Trajectory Simulation ◽  
Adaptive Control Strategy

Abstract In this paper, we study the analytical and experimental control of a 7-DOF robot manipulator. A model-free decentralized adaptive control strategy is presented for the tracking control of the manipulator. The problem formulation and experimental results demonstrate the computational efficiency and simplicity of the proposed method. The results presented here are one of the first known experiments on a redundant 7-DOF robot. The efficacy of the adaptive decentralized controller is demonstrated experimentally by using the Baxter robot to track a desired trajectory. Simulation and experimental results clearly demonstrate the versatility, tracking performance, and computational efficiency of this method.

scholarly journals New Topologies of Lossless Grounded Inductor Using OTRA

2011 ◽  
Vol 2011 ◽  
pp. 1-6 ◽  
Author(s):  
Rajeshwari Pandey ◽  
Neeta Pandey ◽  
Sajal K. Paul ◽  
A. Singh ◽  
B. Sriram ◽  
...  
Keyword(s):  
Theoretical Analysis ◽  
Experimental Results ◽  
Pspice Simulation ◽  
Operational Transresistance Amplifier

Two alternate topologies of lossless grounded inductor have been proposed using operational transresistance amplifier (OTRA). Three applications using the proposed inductors are also included. PSPice simulation and experimental results have been included to demonstrate the performance and verify the theoretical analysis.

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