Knowledge-Based Autonomous Behavior Control of Robots in a Symbiotic Human-Robot System

2006 ◽  
Author(s):  
Tao Zhang ◽  
Haruki Ueno
Keyword(s):  
Behavior Control ◽  
Robot System ◽  
Knowledge Based ◽  
Autonomous Behavior

Design and Development of a Small Stereovision Sensor Module for Small Self-Contained Autonomous Robots

2005 ◽  
Vol 17 (3) ◽  
pp. 248-254 ◽  
Author(s):  
Kei Okada ◽  
◽  
Takeshi Morishita ◽  
Marika Hayashi ◽  
Masayuki Inaba ◽  
...  
Keyword(s):  
Template Matching ◽  
Autonomous Robots ◽  
General Purpose ◽  
Image Sensors ◽  
Robot System ◽  
Visual Functions ◽  
Autonomous Behavior ◽  
Cmos Image Sensors ◽  
Sensor Module ◽  
Small Robot

We designed a small stereovision (SSV) sensor module for easily adding visual functions to a small robot and enabling their use. The SSV sensor module concept includes 1) a vision sensor module containing a camera and a visual processor and 2) connecting to a robot system through general-purpose interface. This design enables the use of visual functions as ordinary sensors such, as touch or ultra-sonic sensors, by simply connecting a general-purpose interface port such as an IO port or serial connector. We developed a prototype module with small CMOS image sensors for a mobile phone and a 16 bit microprocessor. The 30×40mm prototype is small enough to attach even to palm-top robots. Our module demonstrates image processing including binarization, color extraction and labeling, and template matching. We developed self-contained robots, including a 2DOF head robot, a humanoid robot, and a palm-top robot, and realized vision-based autonomous behavior.

scholarly journals Autonomous Behavior Intelligence Control of Self-Evolution Mobile Robot for High-Voltage Transmission Line in Complex Smart Grid

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-17
Author(s):  
Wei Jiang ◽  
Gan Zuo ◽  
De Hua Zou ◽  
Hongjun Li ◽  
Jiu Jiang Yan ◽  
...  
Keyword(s):  
Smart Grid ◽  
Transmission Line ◽  
High Voltage ◽  
Power Transmission ◽  
Control Method ◽  
Behavior Control ◽  
High Voltage Transmission Line ◽  
Autonomous Operation ◽  
Autonomous Behavior ◽  
High Voltage Transmission

In complex smart grid, the power maintenance robot is important equipment to ensure the reliable operation of high-voltage lines and it is a useful exploration to realize high-quality power transmission. In view of the increasingly prominent contradiction between the robot single operation function and the diversification of power grid maintenance operations, additional with the robot weak autonomous operation and intelligent behavior ability, this paper proposes a new configuration of a reconfigurable power robot with terminal functions and its autonomous operation behavior control method for the three typical tasks which are the high-voltage transmission line insulators, drainage plates, and dampers maintenance. Through the analysis and planning of the robot operation behavior, the robot finite state machine (FSM) model in the three operation states has been established. Through the introduction of the state transfer function in the FSM, the automatic switching control between the robot key operation states can be realized, and the robot motion planning can be optimized. The movement and working flow of the robot improve the robot operation intelligence and operation efficiency. Based on this, the robot autonomous operation control system has been designed and the robot physical prototype has been developed for three maintenance tasks of insulators, drainage plates, and dampers. Finally, simulation experiments and field operation tests verify the effectiveness and engineering practicability of the proposed method. Compared with traditional manual control, the autonomous behavior control method can significantly improve the robot operational efficiency and operational intelligence. At the same time, the robot multitask function and autonomous behavior control under different tasks can be realized and the method has strong versatility for different task objects and different line environments. The research and its promotion have important theoretical significance and practical application value for the power system operation and maintenance integration management.

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