Autonomous Mobile University Robots AMUR: Technology and Applications to Extreme Robotics

Filaretov, Vladimir; Pryanichnikov, Valentin

doi:10.1016/j.proeng.2015.01.367

Cited by 7 publications

(3 citation statements)

References 5 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…For the structure of the situational center, it is quite helpful to use the experience in development and operation of the virtual distributed laboratory at the International Institute of New Educational Technologies in the Russian State University for the Humanities (IINET) and the International Laboratory Sensorika [4,5]. This virtual laboratory is designed for remote control of mobile robots and training of experts [6,7].…”

Section: The Structure Of the Territorially Distributed Training Situmentioning

confidence: 99%

Training Situation Center Based on Three-Dimensional Virtual Studio for Distributed Mobile Robotics Laboratory

Andreev¹,

Karbanov²,

Kharin³

et al. 2016

DAAAM Proceedings

View full text Add to dashboard Cite

We consider the problems of creating a training situation center for training management skills of mobile robotic systems control based on the concept of territorially distributed laboratory. This task can be efficiently performed by means of three-dimensional rendering system and software and hardware support for information analysis and management activities. The base concept of approach is the real-time virtual studio that provides computer simulation of threedimensional scenes and motion of actual mobile robots, real-time operation with multiple cameras and have powerful and fast 3D and stereoscopic real-time rendering. We have developed 3D scenes corresponding to places of the intended use of robotic devices and additionally several polygonal 3D models of external artifacts, textures for them and finally recorded animation layers with appropriate controllers of the virtual studio. Mobile robots moved against a background of the chromakey green screen in different places of distributed laboratory are incorporated into the virtual network laboratory on the basis of VPN-tunnels through the Internet by special software.

show abstract

Section: The Structure Of the Territorially Distributed Training Situmentioning

confidence: 99%

Training Situation Center Based on Three-Dimensional Virtual Studio for Distributed Mobile Robotics Laboratory

Andreev¹,

Karbanov²,

Kharin³

et al. 2016

DAAAM Proceedings

View full text Add to dashboard Cite

show abstract

“…Simba et al 3 focused on generating smooth trajectories using piecewise Bezier curves for a wheeled nonholonomic mobile robot. Filaretov and Pryanichnikov 4 addressed an innovative technology used for mobile robots. Liu and Jiang 5 proposed a new class of distributed nonlinear controllers for leader-following formation control of unicycle nonholonomic robots without global position measurements.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Optimization of a Steerable Screw In-pipe Inspection Robot Using HJB and Turbine Installation

et al. 2020

View full text Add to dashboard Cite

SUMMARY In this paper, two strategies are proposed to optimize the energy consumption of a new screw in-pipe inspection robot which is steerable. In the first method, optimization is performed using the optimal path planning and implementing the Hamilton–Jacobi–Bellman (HJB) method. Since the number of actuators is more than the number of degrees of freedom of the system for the proposed steerable case, it is possible to minimize the energy consumption by the aid of the dynamics of the system. In the second method, the mechanics of the robot is modified by installing some turbine blades through which the drag force of the pipeline fluid can be employed to decrease the required propulsion force of the robot. It is shown that using both of the mentioned improvements, that is, using HJB formulation for the steerable robot and installing the turbine blades can significantly save power and energy. However, it will be shown that for the latter case this improvement is extremely dependent on the alignment of the fluid stream direction with respect to the direction of the robot velocity, while this optimization is independent of this case for the former strategy. On the other hand, the path planning dictates a special pattern of speed functionality while for the robot equipped by blades, saving the energy is possible for any desired input path. The correctness of the modeling is verified by comparing the results of MATLAB and ADAMS, while the efficiency of the proposed optimization algorithms is checked by the aid of some analytic and comparative simulations.

show abstract

“…[2] investigated the problem of modelling the errors and demonstrated the zero convergence of tracking errors under polynomial un-certainties. Filaretov and Pryanichnikov [3] addressed and investigated the problem of creating an innovative technology for the engineers' study on the basis of the so called "recurrent" method by forming scientific and R&D technical tasks for students as well as their engagement in the administration of software and hardware for mobile robots. Liu and Jiang [4] proposed a new class of distributed nonlinear controllers for leader-following formation control of unicycle robots without global position measurements.…”

Section: Introductionmentioning

confidence: 99%

Design of a new steerable in-pipe inspection robot and its robust control in presence of pipeline flow

Tourajizadeh

Sedigh

Boomeri

et al. 2020

JMES

View full text Add to dashboard Cite

Robust multivariable control of an in-pipe inspection robot with variable pitch rate is performed in this paper which moves through the pipelines while fluid is flowing. Most of the traditional inpipe robots have two challenges which make difficulty for investigating the pipe line. The necessity of blocking the flow and difficulty toward bypassing the probable obstacles in the pipes. Here a new mechanism of inpipe robot is proposed which can bypass the obstacles as a result of its mechanism modification and also is able to work in presence of flow by the aid of its designed robust controlled. To meet this goal, the proper mechanism is designed and its related model is derived. Afterwards a nonlinear robust controller is designed and implemented on the proposed robot based on Sliding Mode Control (SMC). The efficiency of the designed robot for bypassing the obstacles and also the robustness of its corresponding controller in presence of flow are investigated by the aid of MATLAB simulation. These simulations are validated by modeling the system in ADAMS and comparing the response of the proposed SMC and Feedback Linearization (FL). It is proved that the designed robot is able to move with controllable velocity through full pipelines while the designed controller can successfully cancel the fluid flow disturbances with a good accuracy of order 10-2.

show abstract

Autonomous Mobile University Robots AMUR: Technology and Applications to Extreme Robotics

Cited by 7 publications

References 5 publications

Training Situation Center Based on Three-Dimensional Virtual Studio for Distributed Mobile Robotics Laboratory

Training Situation Center Based on Three-Dimensional Virtual Studio for Distributed Mobile Robotics Laboratory

Dynamic Optimization of a Steerable Screw In-pipe Inspection Robot Using HJB and Turbine Installation

Design of a new steerable in-pipe inspection robot and its robust control in presence of pipeline flow

Contact Info

Product

Resources

About