scholarly journals IMPROVEMENT OF ROBOTIC SYSTEMS BASED ON VISUAL CONTROL

2021 ◽  
pp. 65-74
Author(s):  
Igor Nevliudov ◽  
Oleksandr Tsymbal ◽  
Artem Bronnikov
Keyword(s):  
Mobile Robot ◽  
Control Systems ◽  
Functional Model ◽  
Visual Control ◽  
Integrated System ◽  
Robotic Systems ◽  
Production Environment ◽  
Integrated Production ◽  
Quality Of Control ◽  
Control Processes

The subject of research in the article is the use of adaptive visual control in flexible integrated robotic systems. The goal of the work is the integration of visual control facilities into automated control systems for transport and handling operations of flexible integrated production. The article solves the following tasks: analyze the application of visual control methods in robotics, consider methods for improving adaptive visual work control systems, formulate the basic requirements for adaptive visual control systems, and develop a control model for a mobile robot in the space of a flexible integrated production systems and computer vision systems. To solve the set tasks, the methods of set theory, methods of automatic control theory, and methods of the theory of image processing were used. The following results were obtained: the analysis of visual control systems was carried out from the point of view of solving the problems of flexible integrated systems of modern production; the adaptive visual control scheme was improved by introducing a declarative workspace model and a functional model of a flexible integrated system; the main requirements and tasks of adaptive visual control systems are formulated; considered the main stages of processing visual information and their practical implementation, including multi-zone workspaces; a model of visual control of a mobile robot in a flexible integrated production workspace has been developed; the practical tasks of managing mobile platforms have been solved. Conclusions: the use of adaptive visual control in a production environment will allow combining the elements of flexible integrated production distributed in space, providing monitoring, control and refinement of control processes in real time, the functioning of intelligent control tools, which will improve the quality of control processes.

Autonomous Visual Control of a Mobile Robot

1994 ◽  
Author(s):  
Michael R. Blackburn ◽  
Hoa G. Nguyen
Keyword(s):  
Mobile Robot ◽  
Visual Control

Integration of Multibody System Dynamics With Sliding Mode Control Using FPGA Technique for Trajectory Tracking Problems

2018 ◽  
Author(s):  
Ayman A. Nada ◽  
Abdullateef H. Bashiri
Keyword(s):  
Sliding Mode Control ◽  
Mobile Robot ◽  
Control Systems ◽  
Trajectory Tracking ◽  
Sliding Mode ◽  
Integrated Control ◽  
Equations Of Motion ◽  
Multiple Input Multiple Output ◽  
Control Law ◽  
Mode Control

Trajectory tracking robotic systems require complex control procedures that occupy less space and need less energy. For these reasons, the development of computerized and integrated control systems is crucial. Recently, developing reconfigurable Field Programmable Gate Arrays (FPGAs) give a prominence of the complete robotic control systems. Furthermore, it has been found in the literature that the model-based control methods are most efficient and cost-effective. This model must interpret how multiple moving parts interact with each other and with their environment. On the other hand, MultiBody Dynamic (MBD) approach is considered to solve these difficulties to attain the models accurately. However, the obtained equations of motion do not match the well-developed forms of control theory. In this paper, the MBD model of a mobile robot is established; and the equations of motion are reshaped into their control canonical form. Additionally, the Sliding Mode Control (SMC) theory is used to design the control law. The constraints’ manifold, which is available in the equations of the MBD system, are imposed systematically as the switching surface. SMC is applied because of its ability to address multiple-input/multiple-output nonlinear systems without resorting any approximations. Eventually, the experimental verification of the proposed algorithm is carried out using DaNI mobile robot in which, a Reconfigurable Input/Output (RIO) board is used to reorient the control design, so that can fit the required trajectory. The control law is implemented using LabVIEW software and NI-sbRIO-9631 with acceptable performance. It is obvious that the integration of MBD/SMC/FPGA can be used successfully to develop embedded systems for the applications of trajectory tracking robotics.

scholarly journals Branching features of apple cultivars in integrated and organic production technology

2018 ◽  
Vol 24 (3-4) ◽  
Author(s):  
P. Dremák ◽  
Á. Csihon ◽  
I. Gonda
Keyword(s):  
Organic Farming ◽  
Production Technology ◽  
Production System ◽  
Production Systems ◽  
Environmentally Friendly ◽  
Organic Production ◽  
Integrated System ◽  
Integrated Production ◽  
Apple Cultivars ◽  
Environmentally Friendly Production

In our study, vegetative characteristics of 39 apple cultivars were evaluated in environmentally friendly production systems. Numbers of the branches of the central leader in different high zones were shown. According to our results, number of the branches of the axis was probably larger in the integrated production system, compared to the organic one, which is related to the conditional status of the trees. Based on our experiences training and maintaining canopies in integrated system was easier, as relative more extensive canopies were needed in organic farming.

Scheduling a Single Mobile Robot Incorporated into Production Environment

2012 ◽  
pp. 185-201 ◽  
Author(s):  
Quang-Vinh Dang ◽  
Izabela Ewa Nielsen ◽  
Kenn Steger-Jensen
Keyword(s):  
Mobile Robot ◽  
Production Environment

Expert Guided Autonomous Mobile Robot Learning

2011 ◽  
pp. 216-231
Author(s):  
Gintautas Narvydas ◽  
Vidas Raudonis ◽  
Rimvydas Simutis
Keyword(s):  
Control System ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Control Systems ◽  
Intelligent Control ◽  
Main Idea ◽  
Autonomous Mobile Robots ◽  
Autonomous Mobile Robot ◽  
Intelligent Control System ◽  
Objective Function Values

In the control of autonomous mobile robots there exist two types of control: global control and local control. The requirement to solve global and local tasks arises respectively. This chapter concentrates on local tasks and shows that robots can learn to cope with some local tasks within minutes. The main idea of the chapter is to show that, while creating intelligent control systems for autonomous mobile robots, the beginning is most important as we have to transfer as much as possible human knowledge and human expert-operator skills into the intelligent control system. Successful transfer ensures fast and good results. One of the most advanced techniques in robotics is an autonomous mobile robot on-line learning from the experts’ demonstrations. Further, the latter technique is briefly described in this chapter. As an example of local task the wall following is taken. The main goal of our experiment is to teach the autonomous mobile robot within 10 minutes to follow the wall of the maze as fast and as precisely as it is possible. This task also can be transformed to the obstacle circuit on the left or on the right. The main part of the suggested control system is a small Feed-Forward Artificial Neural Network. In some particular cases – critical situations – “If-Then” rules undertake the control, but our goal is to minimize possibility that these rules would start controlling the robot. The aim of the experiment is to implement the proposed technique on the real robot. This technique enables to reach desirable capabilities in control much faster than they would be reached using Evolutionary or Genetic Algorithms, or trying to create the control systems by hand using “If-Then” rules or Fuzzy Logic. In order to evaluate the quality of the intelligent control system to control an autonomous mobile robot we calculate objective function values and the percentage of the robot work loops when “If-Then” rules control the robot.

scholarly journals Hybrid Models of Studied Objects Using Remote Laboratories for Teaching Design of Control Systems

2016 ◽  
Vol 12 (09) ◽  
pp. 7 ◽  
Author(s):  
Mykhailo Poliakov ◽  
Tetiana Larionova ◽  
Galyna Tabunshchyk ◽  
Anzhelika Parkhomenko ◽  
Karsten Henke
Keyword(s):  
Control Systems ◽  
Set Theory ◽  
Hybrid Models ◽  
Software Component ◽  
Integrated System ◽  
Software Components ◽  
Traffic Light ◽  
Remote Laboratories ◽  
Teaching Design ◽  
State Models

<em>This paper present models of studied objects with the help of remote laboratories containing physical and software components. These hybrid models were described as an integrated system with a hierarchy of controls. The functional structure of hybrid models was formalized using set theory. There are described examples of hybrid models, which software component contains subsystems of virtual models, models of the “hidden” part, the technical state models and environment models of the studied object. There are considered teaching scenarios of hybrid models application. It was given an example of design teaching scenario of diagnostic subsystem of a traffic light.</em>

scholarly journals Mechanical Implementation and Simulation of MoboLab, A Mobile Robot for Inspection of Power Transmission Lines

10.5772/5676 ◽  
2007 ◽  
Vol 4 (3) ◽  
pp. 41 ◽  
Author(s):  
Mostafa Nayyerloo ◽  
Seyyed Mohammad Mehdi Yeganehparast ◽  
Alireza Barati ◽  
Mahmud Saadat Foumani
Keyword(s):  
Mobile Robot ◽  
Transmission Lines ◽  
Power Transmission ◽  
Functional Model ◽  
Power Transmission Line ◽  
Power Transmission Lines ◽  
Mobile Laboratory ◽  
Computer Based ◽  
Flexible Arms ◽  
Ultimate Purpose

This paper describes the first phase in development of a mobile robot that can navigate aerial power transmission lines completely unattended by human operator. Its ultimate purpose is to automate inspection of power transmission lines and their equipments. The authors have developed a scaled functional model of such a mobile robot with a preliminary simple computer based on-off controller. MoboLab (Mobile Laboratory) navigates a power transmission line between two strain towers. It can maneuver over obstructions created by line equipments such as insulators, warning spheres, dampers, and spacer dampers. It can also easily negotiate the towers by its three flexible arms. MoboLab has an internal main screw which enables the robot to move itself or its two front and rear arms independently through changing gripped points. When the front arm gets close to an obstacle, the arm detaches from the line and goes down, the robot moves forward, the arm passes the obstacle and grippes the line again. In a same way another arms pass the obstacle.

Concept of Locomotion Mobile Undercarriage Structure Control for the Path Tracking

2013 ◽  
Vol 198 ◽  
pp. 79-83 ◽  
Author(s):  
Ľubica Miková ◽  
František Trebuňa ◽  
Michal Kelemen
Keyword(s):  
Mobile Robot ◽  
Functional Model ◽  
Path Tracking ◽  
Structure Control ◽  
Unstructured Environments ◽  
Control Functional

The article deals with the proposal structure of undercarriages mobile robot GTR 2010 control. Functional model of the undercarriages mobile robot GTR2010 should be able to carry out active tracking of desired path for achieving a goal and get over obstacles in unstructured environments.

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