Wheeled Robot Drive Design with Rocker-Bogie System for Searching for Earthquake Victims

2021 ◽  
Vol 1 (2) ◽  
pp. 125
Author(s):  
Muhammad Hablul Barri ◽  
Tirta Yudha Hernanda ◽  
Aipujana Tiara Santoso ◽  
Muhammad Nur Faizi ◽  
Muhammad Saehata Mahrus ◽  
...  
Keyword(s):  
Wheeled Robot ◽  
Window Approach

Potensi bencana yang cukup tinggi di Indonesia membuat pemerintah selalu mendukung segala program untuk menanggulangi bencana tersebut. Salah satau kendala yang dihadapi dalam mitigasi bencana adalah mengevakuasi korban sedini mungkin, agar tidak muncul korban berikutnya. Susahnya medan membuat petugas tidak mudah menemukan korban yang tertimpa puing bangunan dan sejenisnya. Sehingga diperlukan robot yang mampu membantu petugas dalam menemukan korban yang tertimpa oleh puing-puing bangunan. Batasan robot yang harus direalisasikan adalah robot harus mampu melewati segala medan dengan standar komunikasi yang memungkinkan untuk diterapkan pada daerah bencana. Dalam paper ini dibahas bagaimana merancang mekanisme robot beroda dengan mekanisme kaki-kaki rocker-bogie yang mampu melewati segala medan. Mekanisme rocker bogie lebih unggul dibanding dengan sistem rantai, terlebih pada medan yang berupa tangga dengan kemiringan diatas 300. Metode dynamic window approach juga diimplementasikan untuk memudahkan robot menuju ke titik tujuan atau titik awal secara mandiri. Dari beberapa pengujian didapatkan hasil robot mampu melewati objek berupa gundukan pasir dengan ketinggian hinggan 40 cm dengan kemiringan diatas 300. Sedangkan jangauan yang mampu dilewati mampu mencapa 7 meter dengan kemiringan kurang dari 100. Dari pengujian juga didapatkan hasil dari 8 jenis peletakan obstacle yang berbeda, robot berhasil kembali ke titik awal dengan eror rata-rata sebesar 1.0513m

scholarly journals A MOVING OBSTACLES PLANNER ALGORITHM FOR A SIX-WHEELED SURVEYING ROBOT

2019 ◽  
Vol XLII-4/W18 ◽  
pp. 191-195
Author(s):  
S. Bazhan ◽  
A. Hosseininaveh
Keyword(s):  
State Of The Art ◽  
Planning Problem ◽  
Simulation Environment ◽  
Ground Vehicle ◽  
Robot Operating System ◽  
Moving Obstacles ◽  
Wheeled Robot ◽  
Military Applications ◽  
Window Approach ◽  
Path Planning Problem

Abstract. Nowadays, robotic systems such as ground vehicle robots are mostly used in many industrial and military applications. Therefore, the path planning problem in the robotics domain is very important. Moving Obstacles Planner (MOP) algorithms have got the researchers interests in recent years and some of the most recent ones have been implemented in Robot Operating System (ROS) which is an open source middle wear to work with robots. This paper aims to compare the state-of-the-art MOP algorithms including Rapidly exploring Random Tree (RRT) and those implemented in the ROS navigation stack such as Dynamic Window Approach (DWA) local planner coupled with Dijkstra and A* as global planners on a six-wheeled robot known as MOOR in simulation environment. The results reveal that all of these algorithms have been designed for a square shape footprint robot and thus have limitations for MOOR with a rectangular footprint shape.

scholarly journals A novel navigation system for an autonomous mobile robot in an uncertain environment

Robotica ◽  
2021 ◽  
pp. 1-26
Author(s):  
Meng-Yuan Chen ◽  
Yong-Jian Wu ◽  
Hongmei He
Keyword(s):  
Mobile Robot ◽  
Navigation System ◽  
Autonomous Navigation ◽  
Clustering Algorithm ◽  
Modular Design ◽  
Optimal Path ◽  
Surrounding Environment ◽  
Computing Complexity ◽  
The Arts ◽  
Window Approach

Abstract In this paper, we developed a new navigation system, called ATCM, which detects obstacles in a sliding window with an adaptive threshold clustering algorithm, classifies the detected obstacles with a decision tree, heuristically predicts potential collision and finds optimal path with a simplified Morphin algorithm. This system has the merits of optimal free-collision path, small memory size and less computing complexity, compared with the state of the arts in robot navigation. The modular design of 6-steps navigation provides a holistic methodology to implement and verify the performance of a robot’s navigation system. The experiments on simulation and a physical robot for the eight scenarios demonstrate that the robot can effectively and efficiently avoid potential collisions with any static or dynamic obstacles in its surrounding environment. Compared with the particle swarm optimisation, the dynamic window approach and the traditional Morphin algorithm for the autonomous navigation of a mobile robot in a static environment, ATCM achieved the shortest path with higher efficiency.

scholarly journals Formation Control and Obstacle Avoidance Algorithm of a Multi-USV System Based on Virtual Structure and Artificial Potential Field

2021 ◽  
Vol 9 (2) ◽  
pp. 161
Author(s):  
Xun Yan ◽  
Dapeng Jiang ◽  
Runlong Miao ◽  
Yulong Li
Keyword(s):  
Obstacle Avoidance ◽  
Potential Field ◽  
Formation Control ◽  
Shape Change ◽  
Artificial Potential Field ◽  
Generation Algorithm ◽  
Time Performance ◽  
Movement Ability ◽  
Window Approach ◽  
Avoidance Problem

This paper proposes a formation generation algorithm and formation obstacle avoidance strategy for multiple unmanned surface vehicles (USVs). The proposed formation generation algorithm implements an approach combining a virtual structure and artificial potential field (VSAPF), which provides a high accuracy of formation shape keeping and flexibility of formation shape change. To solve the obstacle avoidance problem of the multi-USV system, an improved dynamic window approach is applied to the formation reference point, which considers the movement ability of the USV. By applying this method, the USV formation can avoid obstacles while maintaining its shape. The combination of the virtual structure and artificial potential field has the advantage of less calculations, so that it can ensure the real-time performance of the algorithm and convenience for deployment on an actual USV. Various simulation results for a group of USVs are provided to demonstrate the effectiveness of the proposed algorithms.

Sitsen: Passive sitting posture sensing based on wireless devices

2021 ◽  
Vol 17 (7) ◽  
pp. 155014772110248
Author(s):  
Miaoyu Li ◽  
Zhuohan Jiang ◽  
Yutong Liu ◽  
Shuheng Chen ◽  
Marcin Wozniak ◽  
...  
Keyword(s):  
Radio Frequency ◽  
Radio Frequency Identification ◽  
High Performance ◽  
Learning Algorithm ◽  
Low Cost ◽  
Recognition System ◽  
Sitting Posture ◽  
Average Accuracy ◽  
Phase Variations ◽  
Window Approach

Physical health diseases caused by wrong sitting postures are becoming increasingly serious and widespread, especially for sedentary students and workers. Existing video-based approaches and sensor-based approaches can achieve high accuracy, while they have limitations like breaching privacy and relying on specific sensor devices. In this work, we propose Sitsen, a non-contact wireless-based sitting posture recognition system, just using radio frequency signals alone, which neither compromises the privacy nor requires using various specific sensors. We demonstrate that Sitsen can successfully recognize five habitual sitting postures with just one lightweight and low-cost radio frequency identification tag. The intuition is that different postures induce different phase variations. Due to the received phase readings are corrupted by the environmental noise and hardware imperfection, we employ series of signal processing schemes to obtain clean phase readings. Using the sliding window approach to extract effective features of the measured phase sequences and employing an appropriate machine learning algorithm, Sitsen can achieve robust and high performance. Extensive experiments are conducted in an office with 10 volunteers. The result shows that our system can recognize different sitting postures with an average accuracy of 97.02%.

scholarly journals Global Dynamic Path Planning Fusion Algorithm Combining Jump-A* Algorithm and Dynamic Window Approach

IEEE Access ◽  
2021 ◽  
Vol 9 ◽  
pp. 19632-19638
Author(s):  
Lisang Liu ◽  
Jinxin Yao ◽  
Dongwei He ◽  
Jian Chen ◽  
Jing Huang ◽  
...  
Keyword(s):  
Path Planning ◽  
A Algorithm ◽  
Fusion Algorithm ◽  
Global Dynamic ◽  
Dynamic Path Planning ◽  
Dynamic Path ◽  
Window Approach

Surgical considerations during cochlear implantation: the utility of temporal bone computed tomography

2021 ◽  
pp. 1-8
Author(s):  
Beomcho Jun ◽  
Sunwha Song
Keyword(s):  
Computed Tomography ◽  
Temporal Bone ◽  
Cochlear Implantation ◽  
Round Window ◽  
Three Dimensional ◽  
Electrode Placement ◽  
Posterior Tympanotomy ◽  
Electrode Insertion ◽  
Window Approach ◽  
Bone Structures

Abstract Objective This paper describes the construction of portals for electrode placement during cochlear implantation and emphasises the utility of pre-operative temporal bone three-dimensional computed tomography. Methods Temporal bone three-dimensional computed tomography was used to plan portal creation for electrode insertion. Results Pre-operative temporal bone three-dimensional computed tomography can be used to determine the orientation of temporal bone structures, which is important for mastoidectomy, posterior tympanotomy and cochleostomy, and when using the round window approach. Conclusion It is essential to create appropriate portals (from the mastoid cortex to the cochlea) in a step-by-step manner, to ensure the safe insertion of electrodes into the scala tympani. Pre-operative three-dimensional temporal bone computed tomography is invaluable in this respect.

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