HELIOS Tracked Robot Team: Mobile RT System for Special Urban Search and Rescue Operations

2011 ◽  
Vol 23 (6) ◽  
pp. 1041-1054 ◽  
Author(s):  
Ryuichi Hodoshima ◽  
◽  
Michele Guarnieri ◽  
Ryo Kurazume ◽  
Hiroshi Masuda ◽  
...  
Keyword(s):  
Control Systems ◽  
Search And Rescue ◽  
Robot Design ◽  
Test Results ◽  
Urban Search And Rescue ◽  
Cooperative Positioning ◽  
Present Test ◽  
Laser Range Finders ◽  
And Control ◽  
Robotic Tools

Fire brigades and other specialized agencies are often required to undertake extremely dangerous search and rescue operations in which it is important first to verify the safety of the environment and then to obtain clear remote images of the inside of buildings and underground areas. Several studies have addressed the possibility of using robotic tools to make such operations safer for operators and more efficient in time and resource allocations. This paper describes the development of the HELIOS team, consisting of five tracked urban search and rescue robots. Two of these have arms and grippers for specialized tasks, such as handling objects and opening doors. The other three use cameras and laser range finders to construct virtual 3D maps of environment explored, moving autonomously while collecting data using a Cooperative Positioning System (CPS). After introducing robot team specifications, we detail mechanical robot design and control systems. We then present test results for the CPS and HELIOS IX vehicle together with typical mission experiments.

Design and control of a mobile hyper-redundant urban search and rescue robot

2005 ◽  
Vol 19 (3) ◽  
pp. 221-248 ◽  
Author(s):  
Alon Wolf ◽  
Howard H. Choset ◽  
Benjamin H. Brown ◽  
Randall W. Casciola
Keyword(s):  
Search And Rescue ◽  
Urban Search And Rescue ◽  
Rescue Robot ◽  
And Control

Introduction and Commissioning of the New Darmstadt Transonic Compressor Test Facility

2019 ◽  
Author(s):  
Christian Kunkel ◽  
Jan Werner ◽  
Daniel Franke ◽  
Heinz-Peter Schiffer ◽  
Fabian Wartzek ◽  
...  
Keyword(s):  
Control Systems ◽  
Gas Turbines ◽  
State Of The Art ◽  
Test Facility ◽  
Test Results ◽  
Test Rig ◽  
Vast Number ◽  
Transonic Compressor ◽  
Profound Knowledge ◽  
And Control

Abstract With the well-known Transonic Compressor Darmstadt (TCD) in operation since 1994, profound knowledge in designing and operating a sophisticated test-rig is available at the Institute of Gas Turbines and Aerospace Propulsion of TU Darmstadt. During this period, TCD has been subject to a vast number of redesigns within different measurement campaigns (see [1], [2], [3], [4], [5], [6], [7], [8]). To expand the capabilities and ensure a sustainable process of compressor research, a new test facility was designed and built by the institute. The new test rig Transonic Compressor Darmstadt 2 (TCD2) features increased power for higher pressure ratios and higher mass-flow, a state of the art control system, increased flexibility towards different compressor geometries and modern data acquisition hardware and software. Following the successful commissioning of the test-rig in March 2018, a first measurement campaign has been conducted. Early test results regarding aerodynamic performance and aeroelastic effects of the test compressor are presented together with a detailed overview of test-rig infrastructure and control systems as well as the test compressor and the measurement hardware.

Designing Arduino-Based Sluice Control System With Self-Check Sensor Feature

JURNAL TIKA ◽  
2021 ◽  
Vol 6 (03) ◽  
pp. 205-212
Author(s):  
Balqis Yafis ◽  
Rahmat ;
Keyword(s):  
Control System ◽  
Water Level ◽  
Control Systems ◽  
Water Levels ◽  
The Self ◽  
Test Results ◽  
Self Monitoring ◽  
Measurement Results ◽  
Sensor Measurement ◽  
And Control

The use of Arduino-Based floodgates aims to address the issue of flooding. The goal of this research was to create a system that could monitor water levels and control floodgatesUltrasonic sensor was used to measure water level, as the water level becomes the indicator to open and close the floodgates. The ultrasonic sensor is mounted on the dam and measures the distance between the water’s surface and the sensor transmitter. The results of the measurement of the water level are used to control the floodgates. Sensor measurement results are not always valid, given the age of the sensor and the terrain around the dam is quite challenging. The self-check sensor feature is introduced in this study as a way to overcome detection faults in the system, where ultrasonic sensors can perform self-monitoring by relying solely on their neighbours. In general, the process is carried out in four stages, starting from the stage of reading the sensor, the stage transmitting and receiving data from the Arduino, the stage of detecting sensor’s value, the stage of displaying the sensor values. At the stage of displaying the sensor value, there are four water level conditions, normal, waspada, siaga and bahaya. According to the test results, incorporating self-check sensors into the system enables for more efficient Arduino-based sluice control systems, as well as the possibility of detecting malfunctions caused by sensor damage

An Innovation-Based Methodology for HVAC System Fault Detection

1985 ◽  
Vol 107 (4) ◽  
pp. 284-289 ◽  
Author(s):  
P. B. Usoro ◽  
I. C. Schick ◽  
S. Negahdaripour
Keyword(s):  
Mathematical Model ◽  
Control Systems ◽  
Energy Management ◽  
Air Conditioning ◽  
Energy Use ◽  
Hvac System ◽  
Test Results ◽  
Nonlinear Mathematical Model ◽  
Control Scheme ◽  
And Control

Although Energy Management and Control Systems (EMCS) have since the early 1970’s contributed significantly to the reduction (20-40 percent) of energy use in buildings without sacrificing occupants’ comfort, their full capabilities have not been completely realized. This is in part due to their inability to quickly detect and compensate for failures in the Heating, Ventilation and Air Conditioning (HVAC) system. In fact, no matter how good the control scheme for the HVAC system might be, the presence of undetected faults can completely offset any expected savings. This paper presents a methodology for detecting faults in an HVAC system using a nonlinear mathematical model and an extended Kalman filter. The technique was implemented in a computer program and successfully used to detect “planted” faults in simulations of the air handler unit of an HVAC system. Test results are presented to demonstrate the effectiveness of the methodology.

TEST RESULTS OF THE HELIOTRON E POWER SUPPLY AND CONTROL SYSTEMS

1981 ◽  
pp. 877-882
Author(s):  
K. Murai ◽  
S. Koseki ◽  
S. Suzuki ◽  
Y. Ueyama ◽  
K. Uo ◽  
...  
Keyword(s):  
Control Systems ◽  
Power Supply ◽  
Test Results ◽  
And Control

Gathering and Applying Guidelines for Mobile Robot Design for Urban Search and Rescue Application

2017 ◽  
pp. 562-581 ◽  
Author(s):  
Ekaterina R. Stepanova ◽  
Markus von der Heyde ◽  
Alexandra Kitson ◽  
Thecla Schiphorst ◽  
Bernhard E. Riecke
Keyword(s):  
Mobile Robot ◽  
Search And Rescue ◽  
Robot Design ◽  
Urban Search And Rescue

scholarly journals Prototype Rancang Bangun Robot Penyiram Tanaman Otomatis Dengan Kendali Fuzzy

2020 ◽  
Vol 22 (1) ◽  
pp. 102-109
Author(s):  
Akmal Ekaprasetyo ◽  
Wahyu Setyo Pambudi
Keyword(s):  
Space Exploration ◽  
Search And Rescue ◽  
Robot Design ◽  
Mechanical Device ◽  
Soil Humidity ◽  
C Programming Language ◽  
C Programming ◽  
Water Plants ◽  
And Control ◽  
Agricultural Robot

Robot is a mechanical device that can perform physical tasks, both with human supervision and control (semi-automatic), or with a program that has been defined in advance (artificial intelligence). Robots are usually used for heavy tasks, repetitive and monotonous work such as cleaning up toxic wastes, underwater and space exploration, mining, search and rescue, and in agriculture. The agricultural robot designed is a four-wheeled mobile robot that can water plants automatically by taking into account the temperature and soil humidity. This agricultural robot design uses line follower system (line follower robot) and wireless communication through ESP8266. The robot detects the temperature and soil humidity through LM35 and YL-69 sensors which are readable through ATmega32 microcontroller  programmed by C programming language.

Cable-Driven Robots in Physical Rehabilitation

2021 ◽  
pp. 255-290
Author(s):  
Rogério Sales Gonçalves ◽  
Thiago Alves ◽  
Giuseppe Carbone ◽  
Marco Ceccarelli
Keyword(s):  
Central Nervous System ◽  
Nervous System ◽  
Physical Therapy ◽  
Physical Rehabilitation ◽  
Robot Design ◽  
Human Machine Interaction ◽  
Rehabilitation Robots ◽  
And Control ◽  
Machine Interaction ◽  
Robotic Tools

This chapter deals with cable-driven robots when applied in physical rehabilitation. In general, neurorehabilitation is limited to physical therapy that is delivered by clinicians and potentially augmented by robotic tools to facilitate neurorehabilitation and to reduce the consequences of central nervous system injury. Among the robotic tools for rehabilitation can be considered the cable-driven manipulators. First, this chapter presents the upper and lower human limbs movements. The main rehabilitation robots are presented as exoskeletons and cable-driven manipulators. After, the cable-driven manipulators theory is introduced focusing on considerations for robot design in rehabilitation and control with safe human-machine interaction. Experimental examples with different cable-driven robot's structures are presented so that this chapter suggests that these structures can be used as a complement to conventional therapies and not as a substitute. Finally, this chapter presents the clinical evidence in cable-driven robots when applied in physical rehabilitation.

Cable-Driven Robots in Physical Rehabilitation

2020 ◽  
pp. 52-96
Author(s):  
Rogério Sales Gonçalves ◽  
Thiago Alves ◽  
Giuseppe Carbone ◽  
Marco Ceccarelli
Keyword(s):  
Central Nervous System ◽  
Nervous System ◽  
Physical Therapy ◽  
Physical Rehabilitation ◽  
Robot Design ◽  
Human Machine Interaction ◽  
Rehabilitation Robots ◽  
And Control ◽  
Machine Interaction ◽  
Robotic Tools

This chapter deals with cable-driven robots when applied in physical rehabilitation. In general, neurorehabilitation is limited to physical therapy that is delivered by clinicians and potentially augmented by robotic tools to facilitate neurorehabilitation and to reduce the consequences of central nervous system injury. Among the robotic tools for rehabilitation can be considered the cable-driven manipulators. First, this chapter presents the upper and lower human limbs movements. The main rehabilitation robots are presented as exoskeletons and cable-driven manipulators. After, the cable-driven manipulators theory is introduced focusing on considerations for robot design in rehabilitation and control with safe human-machine interaction. Experimental examples with different cable-driven robot's structures are presented so that this chapter suggests that these structures can be used as a complement to conventional therapies and not as a substitute. Finally, this chapter presents the clinical evidence in cable-driven robots when applied in physical rehabilitation.

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