scholarly journals Prototype Development of Mecanum Wheels Mobile Robot: A review

2020 ◽  
Vol 1 (2) ◽  
pp. 71-82
Author(s):  
Mohd Azri Abd Mutalib ◽  
Norsinnira Zainul Azlan
Keyword(s):  
Mobile Robot ◽  
Mobile Application ◽  
Control Strategies ◽  
Low Cost ◽  
Dynamic Modelling ◽  
Market Demand ◽  
Confined Space ◽  
Prototype Development ◽  
Wheeled Robot ◽  
Accuracy And Repeatability

This paper provides the review and prototype development of mecanum wheels mobile robot (MWMR). Nowadays, there is a high market demand for a wheeled machine or wheeled robot for various applications. The ability to move in any direction without altering even a single wheel makes this type of wheel useful for driving, especially in a narrowed or confined space. Various styles of implementing MWMR are discussed in this paper. The kinematic derivation and dynamic modelling are also presented. Characteristically, mecanum wheels face traditional mobile application issues like jerking and slippage, which contribute to low positioning accuracy and repeatability. Besides, environmental factors like disturbance and uncertainty also contribute to these issues. To eliminate or at least reduce the effect, the control strategies in previous researches have been reviewed and are presented in this paper. Finally, a low-cost prototype of MWMR was developed as an experimental platform for future study.

scholarly journals Development of a Mobile Platform with IoT for LIDAR

2021 ◽  
Vol 2107 (1) ◽  
pp. 012042
Author(s):  
Tew Chin Keong ◽  
S.A.A. Shukor ◽  
N.A. Rahim
Keyword(s):  
Mobile Robot ◽  
Mobile Application ◽  
Low Cost ◽  
Mobile Platform ◽  
Laser Rangefinder ◽  
The Real ◽  
Real Environment ◽  
Arduino Uno ◽  
Map Analysis ◽  
Mit App Inventor

Abstract Nowadays, interior scanning is very significant in mobile robot applications because it helps humans to monitor, study and investigate the environments, especially the challenging ones with clutter, hazardous, unexplored, dynamic, and others. A LIDAR can be utilised to perform the task; however, suitable mobile platform should be accompanying it to allow mobility while collecting data representing the environment. This paper shows the process of developing a suitable mobile platform for a low-cost laser rangefinder, RP LIDAR from SLAMTEC with its scanning performance. The mobile platform used in this project is an Arduino Uno R3 4WD mobile robot. L298 H-Bridge IC and HC-05 Bluetooth module is implemented on the robot to make the user able to control its movement through a mobile application. MIT app inventor is used to develop the mobile application. Through the application, user can control the mobile robot with the LIDAR to move around the selected indoor area to scan its environment. To show the scanning results, MATLAB will be used to plot the map. Analysis from the plotting show good mapping results and similar to the real environment, thus presenting its potential to be used in the above-mentioned situations.

Simulation Based Trajectory Analysis for the Tilt Controlled High Speed Narrow Track Three Wheeler Vehicle

2018 ◽  
Author(s):  
Jigneshsinh Sindha ◽  
Basab Chakraborty ◽  
Debashish Chakravarty
Keyword(s):  
High Speed ◽  
Load Transfer ◽  
Control Strategies ◽  
Low Cost ◽  
Path Following ◽  
High Gain ◽  
Rear Wheel ◽  
Main Task ◽  
Prototype Development ◽  
Simulation Based

Small sized three wheeler electric vehicles (EVs) are gaining popularity in many developing countries because of its low cost operation and excellent manoeuvrability. However, usage of such a 3Ws usage is limited to low speed application such as last mile public transport. Vehicles with such configuration are not well accepted for personal mobility. If the safe speed of such a vehicles are improved, such a vehicles can also become viable to personal transport. Active tilt control (ATC) systems are seen as one of the possible solution to improve safe speed of narrow track 3Ws.Literature indicates that many attempts have been made for establishing active tilt control system on 3W vehicles for enhancing stability of ATC vehicles and promising results were obtained. This paper presents simulation based analysis of the ATC 3W electric vehicle. This work is part of full scale experimental prototype development for the narrow track ATC 3W vehicle with one wheel in front configuration. The primarily focus of this work is to address vehicle dynamics and trajectory related issue of the tilting 3Ws. A multi-body model of ATC 3W vehicle using single track lateral dynamic model with nonlinear tire characteristics was prepared in SimMechanics. The lateral dynamic outputs in terms of the trajectory followed by vehicle were compared for the constant steering inputs given to non-tilting vehicle, tilting vehicle with direct tilt control (DTC) system and tilting vehicle with Steering direct tilt control (SDTC) system. Two critical driving scenarios of U-turn and Lane change manoeuvre are analyzed. It is observed from the results that there is certain trade-off in selecting a tilt actuator and controller so as to minimize the jerks in the perceived acceleration due to high gain and minimize the tilt angle error to ensure proper stability improvement. It is also identified that the controller must be tuned to the predictable trajectory control, in addition to the main task of reducing the load transfer across the rear wheel axle. The model presented in the paper is used to understand the performance of DTC and SDTC control strategies during potentially dangerous manoeuvres. The desired path following ability of the vehicle is the main measures considered for the analysis.

FUZZY COGNITIVE MAPS EMBEDDED IN A LOW COST AUTONOMOUS MOBILE ROBOT

2019 ◽  
Author(s):  
Márcio Mendonça ◽  
Guilherme Bender Sartori ◽  
Lucas Botoni de Souza ◽  
Giovanni Bruno Marquini Ribeiro
Keyword(s):  
Mobile Robot ◽  
Low Cost ◽  
Cognitive Maps ◽  
Fuzzy Cognitive Maps ◽  
Autonomous Mobile Robot

Low Cost Mobile Robot

1987 ◽  
Author(s):  
John M. Evans
Keyword(s):  
Mobile Robot ◽  
Low Cost

scholarly journals An Agent-Based Crop Model Framework for Heterogeneous Soils

Agronomy ◽  
2021 ◽  
Vol 11 (1) ◽  
pp. 85
Author(s):  
Jorge Lopez-Jimenez ◽  
Nicanor Quijano ◽  
Alain Vande Wouwer
Keyword(s):  
Growth Models ◽  
Control Strategies ◽  
Low Cost ◽  
Soil Heterogeneity ◽  
Crop Growth ◽  
Negative Effects ◽  
Model Framework ◽  
Agent Based ◽  
Crop Growth Models ◽  
Definition Of

Climate change and the efficient use of freshwater for irrigation pose a challenge for sustainable agriculture. Traditionally, the prediction of agricultural production is carried out through crop-growth models and historical records of the climatic variables. However, one of the main flaws of these models is that they do not consider the variability of the soil throughout the cultivation area. In addition, with the availability of new information sources (i.e., aerial or satellite images) and low-cost meteorological stations, it is convenient that the models incorporate prediction capabilities to enhance the representation of production scenarios. In this work, an agent-based model (ABM) that considers the soil heterogeneity and water exchanges is proposed. Soil heterogeneity is associated to the combination of individual behaviours of uniform portions of land (agents), while water fluxes are related to the topography. Each agent is characterized by an individual dynamic model, which describes the local crop growth. Moreover, this model considers positive and negative effects of water level, i.e., drought and waterlogging, on the biomass production. The development of the global ABM is oriented to the future use of control strategies and optimal irrigation policies. The model is built bottom-up starting with the definition of agents, and the Python environment Mesa is chosen for the implementation. The validation is carried out using three topographic scenarios in Colombia. Results of potential production cases are discussed, and some practical recommendations on the implementation are presented.

scholarly journals Designing of an Advanced Compression Bioreactor with an Implementation of a Low-Cost Controlling System Connected to a Mobile Application

Processes ◽  
2021 ◽  
Vol 9 (6) ◽  
pp. 915
Author(s):  
Gözde Dursun ◽  
Muhammad Umer ◽  
Bernd Markert ◽  
Marcus Stoffel
Keyword(s):  
Mobile Application ◽  
Low Cost ◽  
Experimental Information ◽  
Raspberry Pi ◽  
Tissue Constructs ◽  
Cost Controlling ◽  
Controlling System ◽  
And Control ◽  
Tissue Models

(1) Background: Bioreactors mimic the natural environment of cells and tissues by providing a controlled micro-environment. However, their design is often expensive and complex. Herein, we have introduced the development of a low-cost compression bioreactor which enables the application of different mechanical stimulation regimes to in vitro tissue models and provides the information of applied stress and strain in real-time. (2) Methods: The compression bioreactor is designed using a mini-computer called Raspberry Pi, which is programmed to apply compressive deformation at various strains and frequencies, as well as to measure the force applied to the tissue constructs. Besides this, we have developed a mobile application connected to the bioreactor software to monitor, command, and control experiments via mobile devices. (3) Results: Cell viability results indicate that the newly designed compression bioreactor supports cell cultivation in a sterile environment without any contamination. The developed bioreactor software plots the experimental data of dynamic mechanical loading in a long-term manner, as well as stores them for further data processing. Following in vitro uniaxial compression conditioning of 3D in vitro cartilage models, chondrocyte cell migration was altered positively compared to static cultures. (4) Conclusion: The developed compression bioreactor can support the in vitro tissue model cultivation and monitor the experimental information with a low-cost controlling system and via mobile application. The highly customizable mold inside the cultivation chamber is a significant approach to solve the limited customization capability of the traditional bioreactors. Most importantly, the compression bioreactor prevents operator- and system-dependent variability between experiments by enabling a dynamic culture in a large volume for multiple numbers of in vitro tissue constructs.

A Real-time Monocular Tracking Method for Low-Cost Mobile Robot

2018 ◽  
Author(s):  
Ruonan Ren ◽  
Guangzeng Chen ◽  
Mingliang Wang ◽  
Yunjiang Lou
Keyword(s):  
Mobile Robot ◽  
Real Time ◽  
Low Cost ◽  
Tracking Method
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