scholarly journals A Mobile Robot with Omnidirectional Tracks—Design and Experimental Research

2021 ◽  
Vol 11 (24) ◽  
pp. 11778
Author(s):  
Mateusz Fiedeń ◽  
Jacek Bałchanowski
Keyword(s):  
Mobile Robot ◽  
Experimental Research ◽  
Mobile Systems ◽  
Movement Trajectory ◽  
Mobile Platforms ◽  
Construction Machinery ◽  
Drive Systems ◽  
Small Robot ◽  
And Control ◽  
Design And Testing

This article deals with the design and testing of mobile robots equipped with drive systems based on omnidirectional tracks. These are new mobile systems that combine the advantages of a typical track drive with the advantages of systems equipped with omnidirectional Mecanum wheels. The omnidirectional tracks allow the robot to move in any direction without having to change the orientation of its body. The mobile robot market (automated construction machinery, mobile handle robots, mobile platforms, etc.) constantly calls for improvements in the manoeuvrability of vehicles. Omnidirectional drive technology can meet such requirements. The main aim of the work is to create a mobile robot that is capable of omnidirectional movement over different terrains, and also to conduct an experimental study of the robot’s operation. The paper presents the construction and principles of operation of a small robot equipped with omnidirectional tracks. The robot’s construction and control system, and also a prototype made with FDM technology, are described. The trajectory parameters of the robot’s operation along the main and transverse axes were measured on a test stand equipped with a vision-based measurement system. The results of the experimental research became the basis for the development and experimental verification of a static method of correcting deviations in movement trajectory.

THE EFFECT OF PEER REVIEW STRATEGY ON THE STUDENTS’ ACHIEVEMENT IN WRITING DESCRIPTIVE PARAGRAPH

2015 ◽  
Vol 4 (2) ◽  
Author(s):  
Sri Agus Murniasih And I Wayan Dirgeyasa
Keyword(s):  
Peer Review ◽  
Experimental Research ◽  
Research Method ◽  
Alternative Hypothesis ◽  
Control Group ◽  
Post Test ◽  
Class Viii ◽  
And Control ◽  
Essay Test ◽  
Experimental Group

This study was conducted to know the effect of applying Peer Review Strategy on the students’ achievement in writing descriptive paragraph. It was conducted by using experimental research method. This research design was conducted pre-test, post test in experimental and control group. The population of this research was the eight (VIII) grade students of SMP IT IQRA’ Medan. The sample of this research was taken by lottery technique. They were in class VIII-1 by experimental group and the class VIII-2 by control group. The experimental group was taught by using Peer Review Strategy while the control group was given no treatment. The instrument used to collect the data was writing essay test. The data were analyzed by using t-test formula. The result showed that the value of t-observed was higher than the value of t-table. (3,55 > 2,05 (a = 0.05)) with the degree of freedom (df) = 28. It means that there was a significant effect of applying Peer Review Strategy on the students’ achievement in writing descriptive paragraph. So, the alternative hypothesis (Ha) was accepted.

THE EFFECT OF APPLYING SQ3R METHOD ON STUDENTS’ ACHIEVEMENT IN READING COMPREHENSION

2013 ◽  
Vol 2 (2) ◽  
Author(s):  
Pranata Royganda Sihaloho And Masitowarni Siregar
Keyword(s):  
Reading Comprehension ◽  
Research Design ◽  
Conventional Method ◽  
Experimental Research ◽  
T Test ◽  
Control Group ◽  
Multiple Choice Tests ◽  
Choice Tests ◽  
And Control ◽  
Experimental Group

The aim of this study is to discover the effect of applying SQ3R method inreading comprehension. Experimental research design is used as the research method.This research took place at SMA Nasrani 2Medan. There were 2 classes chosen as thesample with 30 students in each class. The classes were divided into two groups namelyexperimental and control group. The experimental group was taught by using SQ3Rmethod and the control group was taught by using conventional method. The instrumentused to collect the data was a set of multiple choice tests, which divided as pre test andpost test. The result of the research was analyzed by using t-test formula. The resultshowed that t-test was higher than t-table (4,23>2,00) at the level of significant 0,05with degree of freedom (df) 58. It means that hypothesis alternative (Ha) is acceptedwhich shows that SQ3R method significantly improves the student’s readingcomprehension.

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.

Study and Implement on Key Technologies of Ship-Welding Mobile Robot

2010 ◽  
Vol 44-47 ◽  
pp. 321-325
Author(s):  
Liang Hua ◽  
Lin Lin Lv ◽  
Ju Ping Gu ◽  
Yu Jian Qiang
Keyword(s):  
Mobile Robot ◽  
Control Method ◽  
Structure Design ◽  
Seam Tracking ◽  
Precision Positioning ◽  
Positioning Control ◽  
Controlling System ◽  
Welding Torch ◽  
Driven System ◽  
And Control

The key technilogies of ship-welding mobile robot applied to ship-building in plane block production line were researched and realized. The mechanical structure design of the robot was completed. The motion-controlling system of of two-wheel differential driving mobile robot was developed. A novel precision positioning control method of welding torch using ultrasonic motors was putforward. The mechanism and control-driven system of precision positioning system for welding torch were completed. The platform of obstacle avoidance navigation system was designed and the strategies of seam tracking, trajectory and posture adjustment were preliminary studied. The methods and results put forward in the paper could act as the base of deep research on the theories and technologies of ship-welding mobile robot.

Center of gravity estimation and control for a field mobile robot with a heavy manipulator

2009 ◽  
Author(s):  
Jesus Morales ◽  
Jorge L. Martinez ◽  
Anthony Mandow ◽  
Javier Seron ◽  
Alfonso Garcia-Cerezo ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Center Of Gravity ◽  
Estimation And Control ◽  
And Control ◽  
Gravity Estimation

Lagrangian D’Alembert Modeled Maneuverable Autonomous Non-Holonomic Mobile Robot Using a Closed Loop PD Controller

2009 ◽  
Author(s):  
E. Georgiou ◽  
J. Dai
Keyword(s):  
Mobile Robot ◽  
Closed Loop ◽  
Ad Hoc ◽  
Search And Rescue ◽  
Pd Controller ◽  
Modeling And Control ◽  
Holonomic Constraints ◽  
And Control ◽  
Holonomic Mobile Robot ◽  
Initial Results

The motivation for this work is to develop a platform for a self-localization device. Such a platform has many applications for the autonomous maneuverable non-holonomic mobile robot classification, which can be used for search and rescue or for inspection devices where the robot has a desired path to follow but because of an unknown terrain, the device requires the ability to make ad-hoc corrections to its movement to reach its desire path. The mobile robot is modeled using Lagrangian d’Alembert’s principle considering all the possible inertias and forces generated, and are controlled by restraining movement based on the holonomic and non-holonomic constraints of the modeled vehicle. The device is controlled by a PD controller based on the vehicle’s holonomic and non-holonomic constraints. An experiment was setup to verify the modeling and control structure’s functionality and the initial results are promising.

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