Data Interpretation from Leuze RotoScan Sensor for Robot Localisation and Environment Mapping

Seward, Derek; Quayle, Stephen; Zied, Khaled; Pace, C. M.

doi:10.22260/isarc2002/0054

Cited by 3 publications

(3 citation statements)

References 3 publications

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“…For monitoring purposes, cameras can be used to provide clear images of the working area. Laser devices can be used in mapping the task area to create three-dimensional images of the workspace (Seward, D., et al, 2002).…”

Section: The Development Processmentioning

confidence: 99%

“…This representation is useful in the case of Multi-Input-Multi-Output systems however; it is still applicable to Single-Input-Single-Output (SISO) systems as in the case of the present design of the individual joint control. The PIP approach has several advantages (Taylor, C. J., 2002): It can handle transfer function models of any order The integral of error state has been included to provide inherent integral action The PIP control has a structure which avoids common control system problems The PIP control is robust to pure time delays because it uses control sampling intervals that would be considered quiet coarse by conventional standards It is straight forward to extend it multivariable systems It is possible to use any modern control system design method developed for state-space systems…”

Section: System Controller Designmentioning

confidence: 99%

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Development of a Multi-Arm Mobile Robot for Nuclear Decommissioning Tasks

Bakari

Zied

Seward

2007

International Journal of Advanced Robotic Systems

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This paper concerns the design of a two-arm mobile delivery platform for application within nuclear decommissioning tasks. The adoption of the human arm as a model of manoeuvrability, scale and dexterity is the starting point for operation of two seven-function arms within the context of nuclear decommissioning tasks, the selection of hardware and its integration, and the development of suitable control methods. The forward and inverse kinematics for the manipulators are derived and the proposed software architecture identified to control the movements of the arm joints and the performance of selected decommissioning tasks. We discuss the adoption of a BROKK demolition machine as a mobile platform and the integration with its hydraulic system to operate the two seven-function manipulators separately. The paper examines the modelling and development of a real-time control method using Proportional-Integral-Derivative (PID) and Proportional-Integral-Plus (PIP) control algorithms in the host computer with National Instruments functions and tools to control the manipulators and obtain feedback through wireless communication. Finally we consider the application of a third party device, such as a personal mobile phone, and its interface with LabVIEW software in order to operate the robot arms remotely.

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Section: The Development Processmentioning

confidence: 99%

Section: System Controller Designmentioning

confidence: 99%

Development of a Multi-Arm Mobile Robot for Nuclear Decommissioning Tasks

Bakari

Zied

Seward

2007

International Journal of Advanced Robotic Systems

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“…The feasibility analysis results presented in this was in favour of the use of the automated process. Earlier study carried out by Zied et al (2001) on the economic feasibility of the use of Starlifter robotic system in core drilling underneath a motorway bridge showed that the robotic solution is more economic in the short term based on hiring the system. The study was based on cost estimation based on graphical simulation of the proposed system.…”

Section: Summary Of the Model Stepsmentioning

confidence: 99%

An Augmented Framework for Practical Development of Construction Robots

Zied

2007

International Journal of Advanced Robotic Systems

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The use of robotic systems in performing construction tasks has great potential; however the development of such systems remains problematic. This is due to the lack of a suitable feasibility analysis that can help the decision-makers to justify the use of robots and problems in the development process of the system itself. The multidisciplinary and complex nature of construction robotic systems requires a robust development framework for such systems. An augmented framework for the development of construction robots is explained in detail and practically applied to the Starlifter robotic system which is mainly designed to carry heavy tools for construction tasks. The framework consists of two models; the feasibility analysis model and the development process model. The feasibility analysis principles, methodology and tools are explained and discussed in detail. Systems Engineering model is used in the development of the system which allows complete analysis of the system hardware and software components. The purpose of the current project is to develop a general purpose robot that can be employed to perform different jobs to justify its use economically. The presented tools and processes can be utilised in the development of any similar systems.

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Safe and effective navigation of autonomous robots in hazardous environments

Seward¹,

Pace

Agate³

2006

Auton Robot

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The development of autonomous mobile machines to perform useful tasks in real work environments is currently being impeded by concerns over effectiveness, commercial viability and, above all, safety. This paper introduces a case study of a robotic excavator to explore a series of issues around system development, navigation in unstructured environments, autonomous decision making and changing the behaviour of autonomous machines to suit the prevailing demands of users. The adoption of the Real-Time Control Systems (RCS) architecture (Albus, 1991) is proposed as a universal framework for the development of intelligent systems. In addition it is explained how the use of Partially Observable Markov Decision Processes (POMDP) (Kaelbling et al., 1998) can form the basis of decision making in the face of uncertainty and how the technique can be effectively incorporated into the RCS architecture. Particular emphasis is placed on ensuring that the resulting behaviour is both task effective and adequately safe, and it is recognised that these two objectives may be in opposition and that the desired relative balance between them may change. The concept of an autonomous system having "values" is introduced through the use of utility theory. Limited simulation results of experiments are reported which demonstrate that these techniques can create intelligent systems capable of modifying their behaviour to exhibit either 'safety conscious' or 'task achieving' personalities.

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Data Interpretation from Leuze RotoScan Sensor for Robot Localisation and Environment Mapping

Cited by 3 publications

References 3 publications

Development of a Multi-Arm Mobile Robot for Nuclear Decommissioning Tasks

Development of a Multi-Arm Mobile Robot for Nuclear Decommissioning Tasks

An Augmented Framework for Practical Development of Construction Robots

Safe and effective navigation of autonomous robots in hazardous environments

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