Velocity Estimation of Embedded Mobile Robot in Structured Man-Made Environments

2014 ◽  
Vol 592-594 ◽  
pp. 2215-2219
Author(s):  
D. Elayaraja ◽  
R. Ramesh ◽  
S. Ramabalan
Keyword(s):  
Mobile Robot ◽  
Real Time ◽  
Velocity Estimation ◽  
Road Surface ◽  
Test Environment ◽  
The Real ◽  
Logic Control ◽  
Road Surfaces ◽  
Surface Sand ◽  
Time Test

It is proposed to determine the velocity of the embedded mobile robot in a real world test environment .The test environment considered in this work is the man-made road surfaces like cement road surface, sand road surface, Bituminous Thar road surface, Grass road surface and loose gravel road surfaces etc. First, fuzzy logic control of velocity estimation a mobile robot is done using Matlab for the different surfaces. Then the real time tests on the different surfaces were carried out. The simulated values are compared with the test values. The comparison showed that the simulation values were close to the real time test values.

Virtual Test Environment for Self-Optimizing Systems

2013 ◽  
Author(s):  
Jörg Stöcklein ◽  
Daniel Baldin ◽  
Wolfgang Müller ◽  
Tao Xie
Keyword(s):  
Operating System ◽  
Real Time ◽  
Virtual Prototype ◽  
Test Cases ◽  
Test Environment ◽  
Dead Code ◽  
Real Time Operating System ◽  
The Real ◽  
Code Coverage ◽  
Virtual Test

In our paper we present a virtual test environment for self-optimizing systems based on mutant based testing to validate user tasks of a real-time operating system. This allows the efficient validation of the code coverage of the test cases and therefore helps to detect errors in order to improving the reliability of the system software. Technically we are able to run and test the software on both systems. By writing application software and setting up the virtual test environment properly, we define our test cases. To validate the code coverage for our test cases, we use the approach of mutant based testing. By running this mutated code on our virtual prototype in the virtual test environment, we are able to efficiently validate the code coverage and are able to detect bugs in the application code or detect dead code that is not executed. Finding non-executing code leads to redefinition of our test cases by either changing the test environment or the application code in the case of dead code. We implemented the virtual test environment on top of the third party low cost VR system Unity 3D, which is frequently used in entertainment and education. We demonstrate our concepts by the example of our BeBot robot vehicles. The implementation is based on our self-optimizing real-time operating system ORCOS and we used the tool CERTITUDE(TM) for generating the mutations in our application code. Our BeBot virtual prototype in our virtual test environment implements the same low-level interface to the underlying hardware as the real BeBot. This allows a redirection of commands in ORCOS to either the real or the virtual BeBot in order to provide a VR based platform for early software development as well as ensures comparable conditions under both environments. Our example applies a virtual BeBot that drives through a labyrinth utilizing its IR sensors for navigation. The mutant based testing checks if all situations implemented by the software to navigate through the labyrinth are covered by our tests.

scholarly journals Using Sun’s Java Real-Time System to Manage Behavior-Based Mobile Robot Controllers

2011 ◽  
Vol 2011 ◽  
pp. 1-11
Author(s):  
Andrew McKenzie ◽  
Shameka Dawson ◽  
Fei Hu ◽  
Monica Anderson
Keyword(s):  
Mobile Robot ◽  
Real Time ◽  
Challenging Behavior ◽  
Timing Constraints ◽  
Time System ◽  
Real Time System ◽  
Garbage Collector ◽  
The Real ◽  
Robot Controller ◽  
Behavior Based

Implementing a robot controller that can effectively manage limited resources in a deterministic, real-time manner is challenging. Behavior-based architectures that decompose autonomy into levels of intelligence are popular due to their robustness but do not provide real-time features that enforce timing constraints or support determinism. We propose an architecture and approach for using the real-time features of the Real-Time Specification for Java (RTSJ) in a behavior-based mobile robot controller to show that timing constraints affect performance. This is accomplished by extending a real-time aware architecture that explicitly enumerates timing requirements for each behavior. It is not enough to reduce latency. The usefulness of this approach is demonstrated via an implementation on Solaris 10 and the Sun Java Real-Time System (Java RTS). Experimental results are obtained using a K-team Koala robot performing path following with four composite behaviors. Experiments were conducted using several task period sets in three cases: real-time threads with the real-time garbage collector, real-time threads with the non- real-time garbage collector, and non-real-time threads with the non-real-time garbage collector. Results show that even if latency and determinism are improved, the timing of each individual behavior significantly affects task performance.

Research on Kinematic of the Wheel-Legged Robot Based on Uneven Road Surface

2013 ◽  
Vol 712-715 ◽  
pp. 2312-2319
Author(s):  
Ping Peng ◽  
Xiao Jun Zhang ◽  
Jun Zhang ◽  
Zhe Liu
Keyword(s):  
Mobile Robot ◽  
Simulation Experiment ◽  
Disaster Relief ◽  
Road Surface ◽  
Legged Robot ◽  
Kinematics Analysis ◽  
The Real ◽  
Gas Leakage ◽  
Structure Feature ◽  
New Type

A new type of wheel-legged mobile robot is presented in the paper, which is mainly used for early toxic gas leakage warning and disaster relief in the field of wild environment. The paper first presents the structure feature of the new wheel-legged mobile robot. According to the structure of the robot, the kinematics model about robot moving on the smoothing-riding surface is built. On this basis, considering the effects of the disturbance by uneven road surface the paper carries out the robots kinematics analysis. To simulate the result of robot moving on the real road surface, the paper researches on the robots kenimatics by inputing some typical ground driving to the robot. The result of the simulation experiment shows that the robot pose error is more increasing. So the influence of ground disturbance to robot should be took into account in designing the control symstem, which can decrease the pose error and make robot move more accurately.

scholarly journals Applications based on electromyography sensors

2019 ◽  
Vol 29 ◽  
pp. 02007
Author(s):  
Robert Kristof ◽  
Cristian Moldovan ◽  
Valentin Ciupe ◽  
Inocenţiu Maniu ◽  
Magdalena Banda
Keyword(s):  
Mobile Robot ◽  
Real Time ◽  
Industrial Robot ◽  
Experimental Results ◽  
Real Time Control ◽  
The Real ◽  
Time Control ◽  
Myo Armband ◽  
Tracked Mobile Robot

This paper presents our work regarding two different applications that use the electromyography sensors incorporated in the Thalmic Labs Myo Armband. The first application is about the HumanMachine Interface (HMI) for controlling an industrial robot bycreating the environment for the user to control a robot’s gripper position just by moving his arm. The second application refers to the real time control of a tracked mobile robot that is built with the Arduino development board. For each application thesystem design and the experimental results are presented.

scholarly journals Incorporating Real-time Influenza Detection Into the Test-negative Design for Estimating Influenza Vaccine Effectiveness: The Real-time Test-negative Design (rtTND)

2020 ◽  
Author(s):  
Leora R Feldstein ◽  
Wesley H Self ◽  
Jill M Ferdinands ◽  
Adrienne G Randolph ◽  
Michael Aboodi ◽  
...  
Keyword(s):  
Influenza Vaccine ◽  
Real Time ◽  
Negative Control ◽  
Vaccine Effectiveness ◽  
Eligibility Criteria ◽  
The Real ◽  
Advantages And Disadvantages ◽  
Time Test ◽  
Study Sites ◽  
Negative Controls

Abstract With rapid and accurate molecular influenza testing now widely available in clinical settings, influenza vaccine effectiveness (VE) studies can prospectively select participants for enrollment based on real-time results rather than enrolling all eligible patients regardless of influenza status, as in the traditional test-negative design (TND). Thus, we explore advantages and disadvantages of modifying the TND for estimating VE by using real-time, clinically available viral testing results paired with acute respiratory infection eligibility criteria for identifying influenza cases and test-negative controls prior to enrollment. This modification, which we have called the real-time test-negative design (rtTND), has the potential to improve influenza VE studies by optimizing the case-to-test-negative control ratio, more accurately classifying influenza status, improving study efficiency, reducing study cost, and increasing study power to adequately estimate VE. Important considerations for limiting biases in the rtTND include the need for comprehensive clinical influenza testing at study sites and accurate influenza tests.

Development of Autonomous Mobile Robot for Obstacle Avoidance

1993 ◽  
Vol 5 (5) ◽  
pp. 481-486 ◽  
Author(s):  
Masafumi Uchida ◽  
◽  
Syuichi Yokoyama ◽  
Hideto Ide ◽  
Keyword(s):  
Mobile Robot ◽  
Motion Planning ◽  
Real Time ◽  
Obstacle Avoidance ◽  
Potential Field ◽  
Potential Method ◽  
Working Environment ◽  
Planning Problem ◽  
Autonomous Mobile Robot ◽  
The Real

The potential method is superior for solving the problem of motion planning; however, it must address the problem of the real-time generation of potential field. Obstacle avoidance is a motion planning problem. In a previous study, we investigated the real-time generation of potential field. Based on parallel processing with element group, we proposed the system by Sensory Point Moving (SPM) method. As a result of computer simulation, it was confirmed that the SPM method is effective for generating an obstacle avoidance path in 2-D and a more complex working environment like a 3-D one. In this paper, we discuss the development of autonomous mobile robot for obstacle avoidance based on the SPM method.

The ELEKTRA Testbed: Architecture of a Real-time Test Environment for High Safety and Reliability Requirements

1990 ◽  
Vol 23 (6) ◽  
pp. 59-65
Author(s):  
E. Schoitsch ◽  
E. Dittrich ◽  
S. Grasegger ◽  
D. Kropfitsch ◽  
A. Erb ◽  
...  
Keyword(s):  
Real Time ◽  
Test Environment ◽  
Safety And Reliability ◽  
Time Test
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