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Monitoring of robot path tracking: Reconfiguration strategy design and experimental validation

S. Benmoussa, R. Loureiro, Y. Touati, R. Merzouki
2013 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems  
This paper presents experimental validation in real time of fault detection and isolation and fault tolerant control algorithms for healthy monitoring of an Omni-directional platform, called Robotino@.  ...  The purpose of using fault diagnosis algorithms is to supervise the safe operating of the system, and to study the system reconfigurability strategies in order to ensure that the system remains able to  ...  CONCLUSIONS In this work, we presented a fault tolerant control strategy for healthy monitoring of robot path tracking.  ... 
doi:10.1109/iros.2013.6697199 dblp:conf/iros/BenmoussaLTM13 fatcat:ccvq4noajjbo3dnropq4ywd47u

Persistent Multi-Agent Search and Tracking with Flight Endurance Constraints

John Gainer Jr., Jeremy Dawkins, Levi DeVries, Michael Kutzer
2018 Robotics  
Simulations and experiments show the relationship between the number of agents, battery capacity, search performance, and target tracking performance.  ...  The measures used to quantify these relationships include spatiotemporal coverage, target tracking effectiveness, and the usage of available aircraft.  ...  Experimental Results To further validate the methodology, a series of hardware experiments were conducted. The experiments were conducted in a 5 m × 6 m work space.  ... 
doi:10.3390/robotics8010002 fatcat:ubr42pwbsfebtnnecyhfevcbqu

Adaptive Floor Cleaning Strategy by Human Density Surveillance Mapping with a Reconfigurable Multi-Purpose Service Robot

Vinu Sivanantham, Anh Vu Le, Yuyao Shi, Mohan Rajesh Elara, Bing J Sheu
2021 Sensors  
We propose an adaptive multi-robot cleaning strategy based on zig-zag-based coverage path planning that works in synergy with the human interaction heat map generated by safe social distance monitoring  ...  Safe social distance monitoring and cleaning are emerging problems solved through robotics solutions.  ...  Conflicts of Interest: The authors declare that there is no conflict of interest.  ... 
doi:10.3390/s21092965 pmid:33922638 fatcat:gu7bdrtfhnhchktee3zcec3ufm

Ultrasound Imaging and Tracking of Micro/Nanorobots: From Individual to Collectives

Qianqian Wang, Li Zhang
2020 IEEE Open Journal of Nanotechnology  
In this mini-review, the recent progress and challenges on the imaging and tracking of micro/nanorobots using established medical ultrasound imaging technologies are surveyed and summarized.  ...  Ultrasound imaging, as one of the widely used mature imaging technologies, shows great potential for providing real-time feedback of micro/nanorobots in 2-D and 3-D space.  ...  These microrobots were designed for the detection of H 2 O 2 , and the influence of concentration of H 2 O 2 to the microrobots were experimentally investigated.  ... 
doi:10.1109/ojnano.2020.2981824 fatcat:223e2thpg5hntiyrljmd6plzfm

Guest Editorial Introduction to the Focused Section on Mechatronics in Multirobot Systems

Mo-Yuen Chow, Stefano Chiaverini, Christopher Kitts
2009 IEEE/ASME transactions on mechatronics  
The special design of M-TRAN module realizes both reliable and quick self-reconfiguration and versatile robotic motion.  ...  They use a two-module composite system to demonstrate and experimentally validate the technique.  ...  , and mobile robotic systems.  ... 
doi:10.1109/tmech.2009.2014462 fatcat:pydq2qjr3bhutb7dyrimebknoq

Control of a mobile robot with passive multiple trailers

Myoungkuk Park, Woojin Chung, Munsang Kim, Jaebok Song
2004 IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004  
A kinematic design of a trailer system is proposed in our prior work. It is shown that the high performance of trajectory tracking is also valid for the backward motion control problem.  ...  A mobile service robot can achieve reconfigurability by exploiting passive trailer systems. Reconfigurability provides significant practical advantages in order to deal with various service tasks.  ...  A feedback controller can be designed by monitoring the n'th trailer's position and joint angles.  ... 
doi:10.1109/robot.2004.1302405 dblp:conf/icra/ParkCKS04 fatcat:6jkkkmdtnjgtfkb2fbc3yespcq

Recent progress on micro- and nano-robots: towards in vivo tracking and localization

Ben Wang, Yabin Zhang, Li Zhang
2018 Quantitative Imaging in Medicine and Surgery  
Localization of micro-/nano-robots Figure 1 Schematic illustration of the imaging techniques of micro-and nano-robots. The insets are reprinted with permission from  ...  behavior of the robots through reconfigurable swarming process (117, 118) .  ...  The second aspect may focus on the enhancement of the contrast of the micro-and nano-robots compared with the surrounding tissues, from both the design of the micro-and nano-robots, and the collective  ... 
doi:10.21037/qims.2018.06.07 pmid:30050781 pmcid:PMC6037952 fatcat:szp2vhlzgvgu5m5nykxj3y6uga

Online self-reconfigurable robot navigation in heterogeneous environments

Francisco Marques, Pedro Santana, Magno Guedes, Eduardo Pinto, Andre Lourenco, Jose Barata
2013 2013 IEEE International Symposium on Industrial Electronics  
At the highest layer, proper motion and path planning strategies are selected according to the environment's global context.  ...  This paper presents a robot navigation system capable of online self-reconfiguration according to the needs imposed by the various contexts present in heterogeneous environments.  ...  ACKNOWLEDGMENT This work was partially supported by the QREN-funded project ROBOT-QREN and by the CTS multi-annual funding, through the PIDDAC Program funds.  ... 
doi:10.1109/isie.2013.6563831 fatcat:vaeledebd5fmjlnuk2yxr4t5ze

Active Target Tracking and Cooperative Localization for Teams of Aerial Vehicles

Fabio Morbidi, Gian Luca Mariottini
2013 IEEE Transactions on Control Systems Technology  
We propose a gradient-based control strategy that encompasses the three major optimum experimental design criteria, and we use the Kalman filter for estimating the target's position both in a cooperative  ...  Our control strategy is active because it moves the vehicles along paths that minimize the uncertainty about the location of the target.  ...  CONCLUSION AND FUTURE WORK In this paper, we have proposed an active target-tracking strategy to deploy a team of unmanned aerial vehicles along paths that minimize the uncertainty about the position of  ... 
doi:10.1109/tcst.2012.2221092 fatcat:zak5bil36fbobolj3dmywyg4ly

Reconfigurable robots for all-terrain exploration

Paul S. Schenker, Paolo Pirjanian, J. Balaram, K. S. Ali, Ashitey Trebi-Ollennu, Terrance L. Huntsberger, Hrand Aghazarian, Brett A. Kennedy, Eric T. Baumgartner, Karl D. Iagnemma, Adam Rzepniewski, Steven Dubowsky (+5 others)
2000 Sensor Fusion and Decentralized Control in Robotic Systems III  
controls and reconfiguration.  ...  We report on these developments, both software simulations and hardware experimentation.  ...  ACKNOWLEDGEMENTS This work was carried out at the Jet Propulsion Laboratory, California Institute of Technology, under a contract with the National Aeronautics and Space Administration.  ... 
doi:10.1117/12.403744 fatcat:kjxo5hq3gjdc5pq4nsdzsjwpo4

Modelling and Control of a Reconfigurable Robot for Achieving Reconfiguration and Locomotion with Different Shapes

S. M. Bhagya P. Samarakoon, M. A. Viraj J. Muthugala, Raihan E. Abdulkader, Soh Wei Si, Thein T. Tun, Mohan Rajesh Elara
2021 Sensors  
Experimental results confirm the validity of the proposed model and controller during reconfiguration and locomotion of the robot.  ...  A prototype of a robot that facilitates the aim mentioned above has been designed and developed.  ...  Conflicts of Interest: The authors declare no conflict of interest.  ... 
doi:10.3390/s21165362 pmid:34450805 pmcid:PMC8398514 fatcat:uisvdxwlvnandmtqw5okyyv52y

Italian Advances on MMS

Vincenzo Niola, Domenico Mundo
2021 Machines  
contributions to experimental and practical applications [...]  ...  The aim of this Special Issue is to disseminate recent developments in the field of Mechanism and Machine Science achieved by the Italian community through international collaborations, ranging from theoretical  ...  contributions to experimental and practical applications.  ... 
doi:10.3390/machines9040080 fatcat:v37g52s25je27nkkl7ya2gkauu

The Design of Prometheus: A Reconfigurable UAV for Subterranean Mine Inspection

Liam Brown, Robert Clarke, Ali Akbari, Ujjar Bhandari, Sara Bernardini, Puneet Chhabra, Ognjen Marjanovic, Thomas Richardson, Simon Watson
2020 Robotics  
It details the design of a reconfigurable UAV that is able to be deployed through a 150 mm borehole and unfold to a tip-to-tip diameter of 780 mm, allowing it to carry a payload suitable for a full autonomous  ...  The paper address how some of these challenges can be overcome with bespoke design and intelligent controllers.  ...  Conflicts of Interest: The authors declare no conflict of interest.  ... 
doi:10.3390/robotics9040095 fatcat:iwvonbfxtrazrmagjhjfqtyoaa

Probabilistic Distributed Algorithms for Energy Efficient Routing and Tracking in Wireless Sensor Networks

Sotiris Nikoletseas, Paul Spirakis
2009 Algorithms  
We study the problem of localizing and tracking multiple moving targets from a network design perspective i.e. towards estimating the least possible number of sensors, their positions and operation characteristics  ...  Under this model, we abstract the tracking network design problem by a covering combinatorial problem and then design and analyze an efficient approximate method for sensor placement and operation.  ...  For tracking, we study the problem of localizing and monitoring multiple moving targets in wireless sensor networks, from a network design perspective i.e. towards estimating the least possible number  ... 
doi:10.3390/a2010121 fatcat:cxd2gjycjba37iircoprqaqate

Framework for accurate simulation and model-based control of hybrid manufacturing processes

S. Makris, P. Aivaliotis
2021 Procedia CIRP  
The proposed framework focuses on the optimization of hybrid manufacturing processes by developing accurate simulation models of multi-arm robot and processes in order to increase throughput, energy and  ...  This is achieved by evaluating real time closed loop control schemas with sophisticated sensorial and monitoring systems.  ...  Acknowledgments Part of the work reported in this paper refers to the EC research project "TRINITY-Digital Technologies, Advanced Robotics and increased Cyber-security for Agile Production in Future European  ... 
doi:10.1016/j.procir.2020.07.007 fatcat:t73sjblydnajnkhdfalolke4jm
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