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Full-Text Articles in Engineering
Multiple Robot Boundary Tracking With Phase And Workload Balancing, Michael Jay Boardman
Multiple Robot Boundary Tracking With Phase And Workload Balancing, Michael Jay Boardman
Master's Theses
This thesis discusses the use of a cooperative multiple robot system as applied to distributed tracking and sampling of a boundary edge. Within this system the boundary edge is partitioned into subsegments, each allocated to a particular robot such that workload is balanced across the robots. Also, to minimize the time between sampling local areas of the boundary edge, it is desirable to minimize the difference between each robot’s progression (i.e. phase) along its allocated sub segment of the edge. The paper introduces a new distributed controller that handles both workload and phase balancing. Simulation results are used to illustrate …
Cooperative Remote Sensing And Actuation Using Networked Unmanned Vehicles, Haiyang Chao
Cooperative Remote Sensing And Actuation Using Networked Unmanned Vehicles, Haiyang Chao
All Graduate Theses and Dissertations, Spring 1920 to Summer 2023
This dissertation focuses on how to design and employ networked unmanned vehicles for remote sensing and distributed control purposes in the current information-rich world. The target scenarios are environmental or agricultural applications such as river/reservoir surveillance, wind profiling measurement, and monitoring/control of chemical leaks, etc. AggieAir, a small and low-cost unmanned aircraft system, is designed based on the remote sensing requirements from environmental monitoring missions. The state estimation problem and the advanced lateral flight controller design problem are further attacked focusing on the small unmanned aerial vehicle (UAV) platform. Then the UAV-based remote sensing problem is focused with further flight …
Robotic Goal-Based Semi-Autonomous Algorithms Improve Remote Operator Performance, Shawn Hunt
Robotic Goal-Based Semi-Autonomous Algorithms Improve Remote Operator Performance, Shawn Hunt
Wayne State University Dissertations
The focus of this research was to determine if reliable goal-based semi-autonomous algorithms are able to improve remote operator performance or not. Two semi-autonomous algorithms were examined: visual servoing and visual dead reckoning. Visual servoing uses computer vision techniques to generate movement commands while using internal properties of the camera combined with sensor data that tell the robot its current position based on its previous position. This research shows that the semi-autonomous algorithms developed increased performance in a measurable way. An analysis of tracking algorithms for visual servoing was conducted and tracking algorithms were enhanced to make them as robust …
Helmsman, Set A Course : Using A Compass And Rfid Tags For Indoor Localisation And Navigation, Yan Li, Brian Mac Namee, John D. Kelleher
Helmsman, Set A Course : Using A Compass And Rfid Tags For Indoor Localisation And Navigation, Yan Li, Brian Mac Namee, John D. Kelleher
Conference papers
Localisation and navigation are still two of the most important issues in mobile robotics. In certain indoor application scenarios RFID (radio frequency identification)-based absolute localisation has been found to be especially successful in supporting navigation. In this paper we evaluate the feasibility of an RFID and compass based approach to robot localisation and navigation for indoor environments that are dominated by corridors. We describe our system and evaluate its performance in a small, but full-scale, test environment.
A Model Based Nonlinear Adaptive Controller For The Passive Bilateral Telerobotic System, Ufuk Özbay, Erkan Zergeroğlu, İlyas Kandemi̇r
A Model Based Nonlinear Adaptive Controller For The Passive Bilateral Telerobotic System, Ufuk Özbay, Erkan Zergeroğlu, İlyas Kandemi̇r
Turkish Journal of Electrical Engineering and Computer Sciences
IIn this paper, we propose a new adaptive controller scheme for the bilateral telerobotic/teleoperation systems. The proposed controller achieves asymptotic tracking despite the parametric uncertainties associated with both master and slave robots while ensuring the passivity of the closed loop system. Extensive simulation studies are presented to illustrate the feasibility and efficiency of the proposed adaptive controller.