Path Planning and Control for Autonomous Navigation of Single and Multiple Magnetic Mobile Microrobots

2015 ◽  
Author(s):  
Sagar Chowdhury ◽  
Wuming Jing ◽  
Peter Jaron ◽  
David J. Cappelleri
Keyword(s):  
Magnetic Fields ◽  
Autonomous Navigation ◽  
Electromagnetic Coil ◽  
Planning And Control ◽  
Control Frequency ◽  
Electromagnetic Coils ◽  
Planning Algorithm ◽  
Optimization Routine ◽  
Local Magnetic Fields ◽  
And Control

In this paper, we have developed an approach for autonomous navigation of single and multiple microrobots under the influence of magnetic fields generated by electromagnetic coils. Our approach consists of three steps. First, we have developed a heuristics based planning algorithm for generating collision-free trajectories for the microrobots that are suitable to be executed by the available magnetic field. Second, we have modeled the dynamics of the microrobots to develop a controller for determining the forces that need to be generated for the navigation of the robots along the trajectories at a suitable control frequency. Finally, an optimization routine is developed to determine the input currents to the electromagnetic coils that can generate the required forces for the navigation of the robots at the controller frequency. We have validated our approach by simulating two electromagnetic coil systems. The first system has four electromagnetic coils designed for actuating a single microrobot. The second system has an array of sixty-four magnetic microcoils designed for generating local magnetic fields suitable for simultaneous independent actuation of multiple microrobots.

scholarly journals Autonomous Deployment of Underwater Acoustic Monitoring Devices Using an Unmanned Aerial Vehicle: The Flying Hydrophone

Sensors ◽  
2020 ◽  
Vol 20 (21) ◽  
pp. 6064
Author(s):  
Daniel Babatunde ◽  
Simon Pomeroy ◽  
Paul Lepper ◽  
Ben Clark ◽  
Rebecca Walker
Keyword(s):  
Autonomous Navigation ◽  
Marine Mammals ◽  
Fourier Transforms ◽  
Low Cost ◽  
Acoustic Monitoring ◽  
Automatic Data ◽  
Underwater Acoustic ◽  
Planning And Control ◽  
The United Kingdom ◽  
And Control

Unmanned aerial vehicles (UAV) are increasingly becoming a popular tool in the observation and study of marine mammals. However, the potential capabilities of these vehicles regarding autonomous operations are not being fully exploited for passive underwater acoustic monitoring in marine mammal research. This article presents results from the development of a UAV system equipped with an underwater acoustic recorder aimed at assisting with the monitoring of harbour porpoises in Special Areas of Conservation in the United Kingdom. The UAV is capable of autonomous navigation, persistent landing, take-off and automatic data acquisition at specified waypoints. The system architecture that enables autonomous UAV flight including waypoint planning and control is described. A bespoke lightweight underwater acoustic recorder (named the PorpDAQ) capable of transmitting the results of fast Fourier transforms (FFT) applied to incoming signals from a hydrophone was also designed. The system’s operation is successfully validated with a combination of outdoor experiments and indoor simulations demonstrating different UAVs capable of autonomously navigating and landing at specific waypoints while recording data in an indoor tank. Results from the recorder suggest that lightweight, relatively low-cost systems can be used in place of heavier more expensive alternatives.

scholarly journals Planar in-hand manipulation via motion cones

2019 ◽  
Vol 39 (2-3) ◽  
pp. 163-182 ◽  
Author(s):  
Nikhil Chavan-Dafle ◽  
Rachel Holladay ◽  
Alberto Rodriguez
Keyword(s):  
Horizontal Plane ◽  
Motion Tracking ◽  
Tracking System ◽  
Planning And Control ◽  
Dynamic Propagation ◽  
Planning Algorithm ◽  
External Forces ◽  
Motion Tracking System ◽  
And Control ◽  
Bounded Uncertainties

In this article, we present the mechanics and algorithms to compute the set of feasible motions of an object pushed in a plane. This set is known as the motion cone and was previously described for non-prehensile manipulation tasks in the horizontal plane. We generalize its construction to a broader set of planar tasks, such as those where external forces including gravity influence the dynamics of pushing, or prehensile tasks, where there are complex frictional interactions between the gripper, object, and pusher. We show that the motion cone is defined by a set of low-curvature surfaces and approximate it by a polyhedral cone. We verify its validity with thousands of pushing experiments recorded with a motion tracking system. Motion cones abstract the algebra involved in the dynamics of frictional pushing and can be used for simulation, planning, and control. In this article, we demonstrate their use for the dynamic propagation step in a sampling-based planning algorithm. By constraining the planner to explore only through the interior of motion cones, we obtain manipulation strategies that are robust against bounded uncertainties in the frictional parameters of the system. Our planner generates in-hand manipulation trajectories that involve sequences of continuous pushes, from different sides of the object when necessary, with 5–1,000 times speed improvements to equivalent algorithms.

Dynamics and Trajectory Planning for Reconfigurable Space Multibody Robots

2015 ◽  
Vol 137 (9) ◽  
Author(s):  
Quan Hu ◽  
Jingrui Zhang
Keyword(s):  
Trajectory Planning ◽  
Controller Design ◽  
Equations Of Motion ◽  
Space Robot ◽  
Trajectory Tracking Control ◽  
Slide Mode Controller ◽  
Planning And Control ◽  
Cylindrical Joint ◽  
Planning Algorithm ◽  
And Control

A free-floating space robot equipped with multiple reconfigurable manipulators is designed and investigated in this paper. Lockable passive cylindrical joints (PCJs) are utilized to make the manipulator have the ability of changing its length and twisted angle. Each cylindrical joint, connecting two adjacent rigid links, has no embedded actuators but a brake mechanism. Normally, the mechanism is locked during the operation. When in the reconfiguration stage, two manipulators grasp each other to form a closed loop. Then one PCJ is unlocked, whose relative rotation and translation can be changed by the active torques at other joints. This system is a typical space multibody system. The dynamics of the space robot with unlocked cylindrical joints and a closed structural loop is investigated. The equations of motion are derived through Maggi–Kane's method. The obtained mathematical model is free of multipliers, which makes it suitable for controller design. A trajectory planning algorithm capable of avoiding the configuration singularity of the manipulators is proposed. A slide mode controller embedded with an extended state observer (ESO) is designed for the trajectory tracking control. Numerical simulations demonstrate the effectiveness of the trajectory planning and control strategy for the reconfiguration process.

Path planning and control of a mobile base with nonholonomic constraints

Robotica ◽  
1994 ◽  
Vol 12 (6) ◽  
pp. 529-539 ◽  
Author(s):  
S. Jagannathan ◽  
S. Q. Zhu ◽  
F. L. Lewis
Keyword(s):  
Motion Planning ◽  
Feedback Linearization ◽  
Nonholonomic Constraints ◽  
Optimization Techniques ◽  
Reference Trajectory ◽  
Mass System ◽  
Planning And Control ◽  
Mobile Vehicle ◽  
Planning Algorithm ◽  
And Control

SummaryMotion Planning and control of mobile vehicles with nonholonomic constraints are in their infancy. A systematic approach for modeling and base; motion control of a mobile vehicle is presented. A nonlinear coordinate transformation that takes into account the complete dynamics with nonholonomic constraints is used in order to obtain a linear system in space coordinates. An input-output feedback linearization inner loop is subsequently designed to transform this system into a linear-point mass system in the coordinates corresponding to the control objectives. A rigorous yet simple approach to motion planning through optimization techniques is presented for these mobile vehicles. The resulting Cartesian trajectory generated from the motion planning algorithm is employed as the reference trajectory in the outer loop, which is designed based on a Lyapunov function candidate. The net result is a base motion controller that gives capabilities to these mobile vehicles not only for tracking a Cartesian trajectory but also to achieve a desired final orientation (docking angle).

PLANNING TO MEET THE GROWING DEMANDS ON NORTHLANDS WATER RESOURCES

1986 ◽  
pp. 33-42
Author(s):  
D.L. Roke
Keyword(s):  
Industrial Development ◽  
Water Resource Management ◽  
Limited Resources ◽  
Careful Planning ◽  
Management Planning ◽  
Planning And Control ◽  
Sources Of Pollution ◽  
And Control ◽  
Resource Management Planning ◽  
Pastoral Farming

The growth in horticultural and some industrial development in selected areas of Northland has led to a need for more specific and careful planning and control of limited resources in a number of major catchments. The potential irrigation demands for horhculture comprise over 60% of Northland's potential water requirements. By contrast, farm water supply needs are only 11% of these needs. Because of their importance to the Northland economy, and in the legislation these needs are given a high priority in water resource management planning. Land uses, including pastoral farming, require careful operation to reduce diffuse sources of pollution.

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