A Modularized Personal Robot DRP I: Design and Implementation

Roh, Seulki; Yang, Kwang Woong; Park, Jae Hoon; Moon, Hyungpil; Hongseok, Kim; Lee, Hogil; Choi, Hyouk Ryeol

doi:10.1109/tro.2009.2014499

Cited by 10 publications

(3 citation statements)

References 33 publications

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“…A concept of a modularized service robot DRP I is introduced in [12]. The goal of the project is to propose a robot architecture that allows rapid development of new personal mobile robot.…”

Section: Related Workmentioning

confidence: 99%

A Hierarchical Modular Architecture for Reconfigurable Mobile Robots

Andreev¹,

Kim²,

Pryanichnikov³

2019

DAAAM Proceedings

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In this paper we investigate a common issues associated with growth of computational complexity of mobile robots navigation algorithms. It is also shown that a realization of a particular robot application is usually slowed down because of lack of interchangeable and unified robot components. We propose a hierarchical modular architecture for reconfigurable mobile robots as a solution to these problems. In this architecture a mobile robot considered as a combination of modules, which in turn consist of more simple units -sub-modules. Each submodule incorporates a low performance microcontroller and is responsible for only basic functions. A set of sub-modules are then combined into a moduletransport platform, robot leg, arm etc. Besides of this one of the main goals of the study is to provide a framework based on this architecture for a rapid robot prototyping with modules that can be assembled in a plug-and-play way. In this paper we mostly consider hardware modules and prototypes that have been already manufactured. We also briefly investigate a robot transport module structure for a motion on a rough terrain in an unstructured environment.

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Section: Related Workmentioning

confidence: 99%

A Hierarchical Modular Architecture for Reconfigurable Mobile Robots

Andreev¹,

Kim²,

Pryanichnikov³

2019

DAAAM Proceedings

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“…En el presente trabajo se ha asumido que el software del VAT está organizado por niveles (Bensalem et al, 2009;gon Roh et al, 2009) y concretamente el controlador de velocidad trabaja en el nivel más bajo, muy cerca del interfaz de los sensores y motores. El nivel de navegación se ubica inmediatamente encima del nivel de control y el nivel de gobierno encima del de navegación.…”

Section: Arquitectura Del Simulador Multicomputadorunclassified

Controladores multivariables para un vehículo autónomo terrestre: Comparación basada en la fiabilidad del software

Cañas

Hernández

González

et al. 2014

Revista Iberoamericana de Automática e Informática Industrial R

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Se presenta en este artículo la comparación de tres controladores de velocidad (regulador cuadrático lineal-LQR-, proporcional integral derivativo-PID-y borroso) con la intención de determinar cuál de ellos ofrece mejor fiabilidad desde una perspectiva software. Para realizar las pruebas necesarias se utilizaron versiones mutantes de controladores bien ajustados, en los que se inyectaron defectos que simulaban errores de programación. Los controladores fueron diseñados para operar un vehículo autónomo terrestre y fueron ajustados por medio de un algoritmo genético. Dado el elevado número de pruebas a efectuar se decidió construir un simulador multicomputador con el que se realizaron más de 90000 ensayos. En cada uno de los ensayos se sometió a cada controlador mutante a la realización de un recorrido, de unos 20 minutos de duración máxima, sobre un suelo ligeramente ondulado. Con los datos obtenidos se generaron las curvas de fiabilidad por el procedimiento de Kaplan-Meier, lo cual permitió la comparación de controladores objetivo del estudio. De las curvas de fiabilidad del software obtenidas se deduce que, en las condiciones experimentales planteadas, el controlador LQR ofrece el mejor comportamiento, el segundo lugar le corresponde al controlador PID y el tercero al controlador borroso.

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“…This tailoring of solutions aimed at fulfilling individual demands gives rise to superior flexibility, operational efficiency, and cost reduction throughout enterprises and SNs. It holds true also for resource modularity that provides high flexibility in utilizing any type of resources in a dispersed as well as collaborative manner (Cao, Jing, & Wang, 2008;Roh et al, 2009;Zhou & Wu, 2010).…”

Section: Process and Resource Modularitymentioning

confidence: 99%

Integration of supply networks for customization with modularity in cloud and make-to-upgrade strategy

Mehrsai

Karimi

Thoben

2013

Systems Science & Control Engineering

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Today, integration of supply networks (SNs) out of heterogeneous entities is quite challenging for industries. Individualized demands are getting continuously higher values in the global business and this fact forces traditional businesses for restructuring their organizations. In order to contribute to new performances in manufacturing networks, in this paper a collaborative approach is recommended out of modularity structure, cloud computing, and make-to-upgrade concept for improving flexibility as well as coordination of entities in networks. A cloud-based framework for inbound and outbound manufacturing is introduced for complying with the production of individualized products in the turbulent global market, with local decision-makings and integrated performances. Additionally, the complementary aspects of these techniques with new features of products are conceptually highlighted. The compatibility of this wide range of theoretical concepts and practical techniques is explained here. A discrete-event simulation out of an exemplary cloud-based SN is set up to define the applicability of the cloud and the recommended strategy.

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A Modularized Personal Robot DRP I: Design and Implementation

Cited by 10 publications

References 33 publications

A Hierarchical Modular Architecture for Reconfigurable Mobile Robots

A Hierarchical Modular Architecture for Reconfigurable Mobile Robots

Controladores multivariables para un vehículo autónomo terrestre: Comparación basada en la fiabilidad del software

Integration of supply networks for customization with modularity in cloud and make-to-upgrade strategy

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