scholarly journals A Reference Control Architecture for Service Robots Implemented on a Climbing Vehicle

2005 ◽  
pp. 13-24 ◽  
Author(s):  
Francisco Ortiz ◽  
Diego Alonso ◽  
Bárbara Álvarez ◽  
Juan A. Pastor
Keyword(s):  
Service Robots ◽  
Control Architecture

Real-time control architecture using Xenomai for intelligent service robots in USN environments

2009 ◽  
Vol 2 (3) ◽  
pp. 139-151 ◽  
Author(s):  
Byoung Wook Choi ◽  
Dong Gwan Shin ◽  
Jeong Ho Park ◽  
Soo Yeong Yi ◽  
Seet Gerald
Keyword(s):  
Real Time ◽  
Service Robots ◽  
Control Architecture ◽  
Real Time Control ◽  
Time Control

Robust Intelligent Control of Mobile Robots

2009 ◽  
pp. 597-617
Author(s):  
Gordon Fraser ◽  
Gerald Steinbauer ◽  
Jörg Weber ◽  
Franz Wotawa
Keyword(s):  
Mobile Robots ◽  
Hybrid Control ◽  
Service Robots ◽  
Control Architecture ◽  
Self Healing ◽  
Control Paradigm ◽  
Control Framework ◽  
Reactive Planning ◽  
Key Features ◽  
Robotic Soccer

An appropriate control architecture is a crucial premise for successfully achieving truly autonomous mobile robots. The architecture should allow for a robust control of the robot in complex tasks, while it should be flexible in order to operate in different environments pursuing different tasks. This chapter presents a control framework that is able to control an autonomous robot in complex realworld tasks. The key features of the framework are a hybrid control paradigm that incorporates reactive, planning and reasoning capabilities, a flexible software architecture that enables easy adaptation to new tasks and a robust task execution that makes reaction to unforeseen changes in the task and environment possible. Finally, the framework allows for detection of internal failures in the robot and includes self-healing properties. The framework was successfully deployed in the domain of robotic soccer and service robots. The chapter presents the requirements for such a framework, how the framework tackles the problems arising from the application domains, and results obtained during the deployment of the framework.

Robust Intelligent Control of Mobile Robots

2011 ◽  
pp. 335-355
Author(s):  
Gordon Fraser
Keyword(s):  
Mobile Robots ◽  
Hybrid Control ◽  
Service Robots ◽  
Control Architecture ◽  
Self Healing ◽  
Control Paradigm ◽  
Control Framework ◽  
Reactive Planning ◽  
Key Features ◽  
Robotic Soccer

An appropriate control architecture is a crucial premise for successfully achieving truly autonomous mobile robots. The architecture should allow for a robust control of the robot in complex tasks, while it should be flexible in order to operate in different environments pursuing different tasks. This chapter presents a control framework that is able to control an autonomous robot in complex real-world tasks. The key features of the framework are a hybrid control paradigm that incorporates reactive, planning and reasoning capabilities, a flexible software architecture that enables easy adaptation to new tasks and a robust task execution that makes reaction to unforeseen changes in the task and environment possible. Finally, the framework allows for detection of internal failures in the robot and includes self-healing properties. The framework was successfully deployed in the domain of robotic soccer and service robots. The chapter presents the requirements for such a framework, how the framework tackles the problems arising from the application domains, and results obtained during the deployment of the framework.

scholarly journals A Reference Control Architecture for Service Robots as applied to a Climbing Vehicle

10.5772/5501 ◽  
2007 ◽  
Author(s):  
Francisco Ortiz ◽  
Diego Alonso ◽  
Juan Pastor ◽  
Barbara Alvarez ◽  
Andres Iborr
Keyword(s):  
Service Robots ◽  
Control Architecture

A Real Time Control Architecture for Continuously Managing Patients in a Care Unit

1995 ◽  
Vol 34 (05) ◽  
pp. 475-488
Author(s):  
B. Seroussi ◽  
J. F. Boisvieux ◽  
V. Morice
Keyword(s):  
Real Time ◽  
Linear Time ◽  
Treatment Plan ◽  
Control Architecture ◽  
Real Time Control ◽  
Time Representation ◽  
Time Control ◽  
Continuous Support ◽  
Definition Of ◽  
Computerized System

Abstract:The monitoring and treatment of patients in a care unit is a complex task in which even the most experienced clinicians can make errors. A hemato-oncology department in which patients undergo chemotherapy asked for a computerized system able to provide intelligent and continuous support in this task. One issue in building such a system is the definition of a control architecture able to manage, in real time, a treatment plan containing prescriptions and protocols in which temporal constraints are expressed in various ways, that is, which supervises the treatment, including controlling the timely execution of prescriptions and suggesting modifications to the plan according to the patient’s evolving condition. The system to solve these issues, called SEPIA, has to manage the dynamic, processes involved in patient care. Its role is to generate, in real time, commands for the patient’s care (execution of tests, administration of drugs) from a plan, and to monitor the patient’s state so that it may propose actions updating the plan. The necessity of an explicit time representation is shown. We propose using a linear time structure towards the past, with precise and absolute dates, open towards the future, and with imprecise and relative dates. Temporal relative scales are introduced to facilitate knowledge representation and access.

Object Recognition for Service Robots Based on Human Description of Object Attributes

2013 ◽  
Vol 133 (1) ◽  
pp. 18-27 ◽  
Author(s):  
Hisato Fukuda ◽  
Satoshi Mori ◽  
Katsutoshi Sakata ◽  
Yoshinori Kobayashi ◽  
Yoshinori Kuno
Keyword(s):  
Object Recognition ◽  
Service Robots

Technical and economic analysis of certain types of service robots

2020 ◽  
Vol 19 (10) ◽  
pp. 1965-1986
Author(s):  
T.A. Komkina ◽  
M.A. Nikonova ◽  
M.G. Dubinina
Keyword(s):  
Dynamic Models ◽  
Unit Price ◽  
Service Robots ◽  
Technical Level ◽  
Positive Correlation ◽  
Technical Indicators ◽  
Technical Parameters ◽  
Prosthetic Hands ◽  
Remotely Piloted Aircraft ◽  
Aircraft System

Subject. The article analyzes development trends in certain types of service robots, namely, hybrid UAVs, bionic prosthetic hands, robotic vacuum cleaners. Objectives. We focus on identifying the main trends in the development of certain types of service robots, building dynamic models of their technical indicators and models of dependence of their price and weight on absolute characteristics and technical parameters. Methods. The study employs methods of correlation and multiple regression analysis. The data of the IFR, the Remotely Piloted Aircraft System, and websites of robot manufacturers serve as the informational basis of the paper. Results. The modeling unveils positive correlation between the integrated indicator of the technical level of hybrid UAVs of convertiplane type and the wingspan. The analysis of modern bionic prosthetic hands shows that the developers focus on optimizing the structure of the prosthetic, however, as the functions of the hand improve, the weight of bionic hand increases. The main factors influencing the price of robot vacuum cleaners are their power, weight, and operating hours. Conclusions. The unit price of a complex indicator of the technical level of hybrid UAVs is lower than the corresponding indicator of fixed-wing UAVs, reflecting a greater efficiency of hybrid UAVs. The analysis of technical indicators of robotic prosthetics (using the case of bionic hands) shows that any improvement of functional characteristics leads to deterioration of weight. The analysis of technical and economic indicators of robotic vacuum cleaners reveals a positive correlation between the price and weight, operating hours and power.

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