Development of Autonomous Mobile Robot Using Articulated Steering Vehicle and Lateral Guiding Method

2015 ◽  
Vol 27 (4) ◽  
pp. 337-345 ◽  
Author(s):  
Shinya Ohkawa ◽  
◽  
Yoshihiro Takita ◽  
Hisashi Date ◽  
Kazuhiro Kobayashi
Keyword(s):  
Experimental Data ◽  
Mobile Robot ◽  
Real World ◽  
Autonomous Mobile Robot ◽  
Steering Angle ◽  
The Real ◽  
Articulated Vehicle ◽  
Robotic Vehicle ◽  
Relationship Of ◽  
Geometrical Relationship

<div class=""abs_img""> <img src=""[disp_template_path]/JRM/abst-image/00270004/03.jpg"" width=""300"" /> Autonomous robot “AR Chair”</div> This paper is discusses an autonomous mobile robot entered in the Real World Robotics Challenges 2014 (RWRC) in Tsukuba. Our project was to develop a wheelchair able to navigate stairs autonomously. Step 1 develops a center articulated vehicle, called the AR Chair, which has 4 wheels and a controller including LIDARs. The center articulated vehicle has a stiff structure and travels with the front and rear wheels on the same path, so there is no inner wheels difference. The robotic vehicle carries users weighing up to 100 kg. The autonomous controller is the same as the Smart Dump 7 combined with the RWRC 2013 to achieve the challenge, excluding the geometrical relationship of the steering angle and communication command for motor drivers to the AR Chair. The advantage of the robot is shown by experimental data from the RWRC 2014’s final run. </span>

Practical Education Curriculum for Autonomous Mobile Robot (Project Learning Program for School Based on Subsumption Architecture)

2011 ◽  
Vol 23 (5) ◽  
pp. 684-700 ◽  
Author(s):  
Yoshihiko Kawazoe ◽  
◽  
Masaki Mitsuoka ◽  
Sho Masada
Keyword(s):  
Mobile Robot ◽  
Real World ◽  
Strong Nonlinearity ◽  
Autonomous Mobile Robot ◽  
Learning Program ◽  
Subsumption Architecture ◽  
The Real ◽  
Emotional Appeal ◽  
School Based ◽  
Autonomous Machine

There are presently no robots around us in our society if we define a robot as an autonomous machine working in the arena of offices, homes, disaster sites, etc., not in factories. Mechatronics, dynamics, and robotics involving humans are a world of strong nonlinearity. This paper investigates the approach to the emergence of the target behavior of an autonomous mobile robot by learning with Subsumption Architecture (SA) to break through the problems of the conventional robotics with the SMPA (Sense-Model-Plan-Act) framework in the real world. It has showed the way things are learned in the real world with SA and has been developed into a practical curriculum for education as an introduction to robotics that has an intellectual and emotional appeal.

Development of Autonomous Mobile Robot that Can Navigate in Rainy Situations

2016 ◽  
Vol 28 (4) ◽  
pp. 441-450 ◽  
Author(s):  
Naoki Akai ◽  
◽  
Yasunari Kakigi ◽  
Shogo Yoneyama ◽  
Koichi Ozaki ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Real World ◽  
Robot Navigation ◽  
Mobile Robot Navigation ◽  
Navigation Systems ◽  
Autonomous Mobile Robot ◽  
Technical Challenge ◽  
The Real ◽  
Mobile Navigation ◽  
Unexpected Behavior

[abstFig src='/00280004/02.jpg' width='300' text='Navigation under strong rainy condition' ] The Real World Robot Challenge (RWRC), a technical challenge for mobile outdoor robots, has robots automatically navigate a predetermined path over 1 km with the objective of detecting specific persons. RWRC 2015 was conducted in the rain and every robot could not complete the mission. This was because sensors on the robots detected raindrops and the robots then generated unexpected behavior, indicating the need to study the influence of rain on mobile navigation systems – a study clearly not yet sufficient. We begin by describing our robot’s waterproofing function, followed by investigating the influence of rain on the external sensors commonly used in mobile robot navigation and discuss how the robot navigates autonomous in the rain. We conducted navigation experiments in artificial and actual rainy environments and those results showed that the robot navigates stably in the rain.

Student Education Utilizing the Development of Autonomous Mobile Robot for Robot Competition

2017 ◽  
Vol 29 (6) ◽  
pp. 1025-1036 ◽  
Author(s):  
Satoshi Muramatsu ◽  
Daisuke Chugo ◽  
Sho Yokota ◽  
Hiroshi Hashimoto ◽  
◽  
...  
Keyword(s):  
Mobile Robot ◽  
Real World ◽  
Autonomous Mobile Robot ◽  
Research Activity ◽  
The Real ◽  
Student Education ◽  
Academic Conference ◽  
Research Outcome ◽  
Short Span ◽  
World Information

The purpose of our education approach is the giving the knowledge and the experience for the research activity to the freshman student who assigned the Lab. We think that “the interaction between the robot and the real world information which is observed by sensor” is important for the student education for student’s research in the Lab. Here, the interaction means how perform the robot based on the real world information which is observed by sensors. The development of the mobile robot which work in Robot competition (Tsukuba Challenge) requires “the interaction between the mobile robot and real world.” For this reason, we think that this activity (participating in the Tsukuba Challenge anf development of the mobile robot) is effective for the student education, and we educate the student by utilizing the development of the mobile robot for Tsukuba Challenge. Although our approach performed in short span, we achieve the good result. For example, the students achieves the research outcome by utilizing the learned skill, and submitted the paper to the academic conference. We verified that our education approach is effective for improvement the student education and motivation.

scholarly journals On the Relationship of Mathematics to the Real World

Resonance ◽  
2018 ◽  
Vol 23 (2) ◽  
pp. 183-195
Author(s):  
Deepak Dhar
Keyword(s):  
Real World ◽  
The Real ◽  
Relationship Of ◽  
The Relationship

Towards a Dynamic Semantic and Complex Relationship Modeling of Multimedia Data

2013 ◽  
pp. 154-169
Author(s):  
Dawen Jia ◽  
Mengchi Liu
Keyword(s):  
Real World ◽  
Multimedia Data ◽  
General Idea ◽  
Dynamic Semantic ◽  
The Real ◽  
Semantic Relationships ◽  
Multimedia Metadata ◽  
Application Requirements ◽  
Relationship Of ◽  
Information Networking

Multimedia data is a challenge for data management. The semantics of traditional alphanumeric data are mostly explicit, unique, and self-contained, but the semantics of multimedia data are usually dynamic, diversiform, and varying from one user’s perspective to another’s. When dealing with different applications in which multimedia data is involved, great challenges arise. We first introduce a novel data model called Information Networking Model (INM), which can represent the dynamic and complex semantic relationships of the real world. In this chapter, we show how to use INM to capture dynamic and complex semantics relationship of multimedia data. Using INM, we present a multimedia modeling mechanism. The general idea of this novel mechanism is to place the multimedia data in a complex semantic environment based on the real world or application requirements, and then users can make use of both contextual semantics and multimedia metadata to retrieve the precise results they expect.

Optimal path planning of mobile robot using the hybrid cuckoo–bat algorithm in assorted environment

2019 ◽  
Vol 7 (1) ◽  
pp. 35-52 ◽  
Author(s):  
Balamurali Gunji ◽  
Deepak B.B.V.L. ◽  
Saraswathi M.B.L. ◽  
Umamaheswara Rao Mogili
Keyword(s):  
Path Planning ◽  
Mobile Robot ◽  
Real World ◽  
Hybrid Algorithm ◽  
Optimal Path ◽  
Bat Algorithm ◽  
Cuckoo Search ◽  
Content Type ◽  
The Real ◽  
World Environment

Purpose The purpose of this paper is to obtain an optimal mobile robot path planning by the hybrid algorithm, which is developed by two nature inspired meta-heuristic algorithms, namely, cuckoo-search and bat algorithm (BA) in an unknown or partially known environment. The cuckoo-search algorithm is based on the parasitic behavior of the cuckoo, and the BA is based on the echolocation behavior of the bats. Design/methodology/approach The developed algorithm starts by sensing the obstacles in the environment using ultrasonic sensor. If there are any obstacles in the path, the authors apply the developed algorithm to find the optimal path otherwise reach the target point directly through diagonal distance. Findings The developed algorithm is implemented in MATLAB for the simulation to test the efficiency of the algorithm for different environments. The same path is considered to implement the experiment in the real-world environment. The ARDUINO microcontroller along with the ultrasonic sensor is considered to obtain the path length and time of travel of the robot to reach the goal point. Originality/value In this paper, a new hybrid algorithm has been developed to find the optimal path of the mobile robot using cuckoo search and BAs. The developed algorithm is tested with the real-world environment using the mobile robot.

Using Logic Activities to Produce a Class Constitution

1992 ◽  
Vol 40 (3) ◽  
pp. 174-176
Author(s):  
Susan Strand Monchamp
Keyword(s):  
Real World ◽  
Evaluation Standards ◽  
The Real ◽  
Mathematical Connections ◽  
Relationship Of ◽  
The Relationship

One of my major goals in mathematics is to have my student understand the relationship of mathematics to the real world. To this end, we begin the year in my first-gradeclass by doing a series of logic activities that lead to the production of our class constitution. The activities reflect three of the NCTM' curriculum and evaluation standards—Mathematics a Communication, Mathematics as Reasoning, and Mathematical Connections (NCTM 1989).

scholarly journals E-BOT PLATAFORMA ROBÓTICA DE APOYO EN LA ENSEÑANZA DE ALGORITMOS Y PROGRAMACIÓN

2021 ◽  
Vol 8 (16) ◽  
pp. 65-76
Author(s):  
JEFFERSON GÚTIERREZ ◽  
◽  
NICOLAS CALDERON ◽  
JOSE FRANCO
Keyword(s):  
Mobile Robot ◽  
Real World ◽  
Correct Operation ◽  
Support Tool ◽  
The Real ◽  
Design And Construction

This article presents the design and construction of a mobile robot (E-BOT) both in the hardware and in the software part, which works as a support tool for teaching processes and allows to consolidate learning in related topics. a Programming having as its scope repetitive structures, this through a series of previously constructed learning elements. E-BOT has a series of actuators (Led, oled, servomotor, motors) and sensors (ultrasound and reflective light) which are controlled by means of Arduino that allow an easy interaction of EBOT with the real world. Additionally, the construction of a verification software is carried out that allows us to validate the correct operation of all the modules built.

scholarly journals PSYChosomatic Medicine in ONcologIc and Cardiac Disease (PSYCHONIC) Study—A Retrospective and Prospective Observational Research Protocol

2021 ◽  
Vol 10 (24) ◽  
pp. 5786
Author(s):  
Adriana Roncella ◽  
Christian Pristipino ◽  
Oretta Di Carlo ◽  
Matteo Ansuini ◽  
Angela Corbosiero ◽  
...  
Keyword(s):  
Medical Therapy ◽  
Real World ◽  
Metastatic Breast ◽  
Psychological Characteristics ◽  
Observational Research ◽  
Control Group ◽  
Medical Outcomes ◽  
The Real ◽  
Relationship Of ◽  
The Relationship

Psychosocial factors play an important role in non-communicable diseases (NCDs). This observational study is primarily aimed at assessing the relationship of psychological characteristics of patients with the outcomes of different NCDs, and to assess short-term psychotherapy (STP) efficacy in the real world. Methods: One hundred and forty patients with recent acute myocardial infarction, Takotsubo syndrome, or non-metastatic breast cancer and a control group of 140 age and sex-matched healthy subjects, will be enrolled. All subjects will be administered psychometric tests, quality of life tests, a specific body perception questionnaire, a dream questionnaire, and a projective test, the Six Drawing test at baseline and follow-up. All subjects with medical conditions will be asked to freely choose between an ontopsychological STP along with standard medical therapy and, whenever indicated, rehabilitation therapy or medical therapy plus rehabilitation alone. The study endpoints will be to evaluate: the relationship of the psychological characteristics of enrolled subjects with the outcomes of different NCDs, predictors of the choice of psychotherapy, and the efficacy of ontopsychological intervention on psychological and medical outcomes. Conclusion: This study will generate data on distinctive psychological characteristics of patients suffering from different CDs and their relationship with medical outcomes, as well as explore the efficacy of ontopsychological STP in these patients in the real world. (Number of registration: NCT03437642).

An Active Virtual Impedance Control Algorithm for Collision Free Navigation of a Mobile a Robot

2017 ◽  
Vol 6 (2) ◽  
pp. 99
Author(s):  
Jinho Kim ◽  
Jangmyung Lee
Keyword(s):  
Mobile Robot ◽  
Sound Source ◽  
Control Algorithm ◽  
Impedance Control ◽  
Microphone Array ◽  
Avoidance Performance ◽  
Impedance Method ◽  
Relationship Of ◽  
Geometrical Relationship ◽  
Virtual Impedance

<span style="color: black; font-family: 'Times New Roman','serif'; font-size: 9pt; mso-fareast-font-family: '맑은 고딕'; mso-bidi-font-style: italic; mso-fareast-theme-font: minor-fareast; mso-ansi-language: EN-US; mso-fareast-language: EN-US; mso-bidi-language: AR-SA;" lang="EN-US">An modified active virtual impedance control has been proposed for collision free navigation of a mobile robot to avoid front obstacles dynamically while a mobile robot is following a sound source. A mobile robot is controlled to follow a sound source with a velocity which is determined by virtual repulsive and attraction forces to avoid obstacles and to follow the sound source, respectively. To generate the virtual repulsive and attraction forces, a new modified virtual impedance is defined as a function of the distances and relative velocities to the sound source and obstacles from the mobile robot. In the conventional virtual impedance method, fixed coefficients have been used for the virtual impedance control. In this research, the coefficients are dynamically adjusted to elaborate the obstacle avoidance performance in various situations such as the multiple moving obstacles environment. A microphone array consisting of three microphones in a row has been attached on the mobile robot to detect the relative distance and velocity to the obstacles. The relative position and orientation of the sound source against the mobile robot has been estimated using the geometrical relationship of the microphones. As an application, the mobile robot can be used as a pet robot following the master with a sound source. The effectiveness of the proposed algorithm has been demonstrated through real experiments.</span>

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