FPGA-Based Parallel DNA Algorithm for Optimal Configurations of an Omnidirectional Mobile Service Robot Performing Fire Extinguishment

Tsai, Ching‐Chih; Huang, Hsu‐Chih; Lin, Shui-Chun

doi:10.1109/tie.2010.2048291

Cited by 53 publications

(16 citation statements)

References 30 publications

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“…Sensor-based construction of efficient geometric structures via the generalized Voronoi diagram (GVD) have been implemented with success in FPGAs for mobile robots [19][20]. In [21], a coarse-grain parallel deoxyribonucleic acid (PDNA) algorithm for optimal configurations of an omnidirectional mobile robot with a five-link robotic arm is presented.…”

Section: A Fpga-based Controllers For Embedded Industrial and Robotimentioning

confidence: 99%

FPGAs in Industrial Control Applications

Monmasson

Idkhajine

Cirstea

et al. 2011

IEEE Trans. Ind. Inf.

466

182

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-The aim of this paper is to review the state of the art of Field Programmable Gate Array (FPGA) technologies and their contribution in industrial control applications. Authors start by addressing various research fields where FPGAs are useful. The features of these devices are then presented followed by their corresponding design tools. To illustrate the benefit of using FPGAs in the case of complex control applications, a sensorless motor controller has been treated. This controller is based on the Extended Kalman Filter. Its development has been made according to a dedicated design methodology which is also discussed. Another example of illustration is the Neural Network Systems. To show the interest of FPGAs in this field, some case studies have been presented.

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Section: A Fpga-based Controllers For Embedded Industrial and Robotimentioning

confidence: 99%

FPGAs in Industrial Control Applications

Monmasson

Idkhajine

Cirstea

et al. 2011

IEEE Trans. Ind. Inf.

466

182

View full text Add to dashboard Cite

show abstract

“…The drawback of this approach is that it suffers from singularities configurations, since it requires the inversion of a Jacobian matrix to solve the inverse kinematics problems. Then, Huang and Tsai 2 and Tsai et al 3 introduced an approach to solve the inverse kinematics of omnidirectional mobile manipulators based on metaheuristic algorithms. However, this approach cannot be generalized to different mobile platform and manipulator structures.…”

Section: Introductionmentioning

confidence: 99%

Inverse kinematics of mobile manipulators based on differential evolution

López-Franco

Hernández-Barragán

Alanis

et al. 2018

International Journal of Advanced Robotic Systems

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The solution of the inverse kinematics of mobile manipulators is a fundamental capability to solve problems such as path planning, visual-guided motion, object grasping, and so on. In this article, we present a metaheuristic approach to solve the inverse kinematic problem of mobile manipulators. In this approach, we represent the robot kinematics using the Denavit-Hartenberg model. The algorithm is able to solve the inverse kinematic problem taking into account the mobile platform. The proposed approach is able to avoid singularities configurations, since it does not require the inversion of a Jacobian matrix. Those are two of the main drawbacks to solve inverse kinematics through traditional approaches. Applicability of the proposed approach is illustrated using simulation results as well as experimental ones using an omnidirectional mobile manipulator.

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“…Figure 1 shows an example of an omnidirectional wheel called the omni wheel. The omni wheel has a disk shape like a conventional wheel and can move in any direction (Asama et al, 1995;Barreto S. et al, 2014;Conceição et al, 2009;Fisette et al, 2000;Huang, 2013;Huang and Tsai, 2009;Iida et al, 2008;Kalmár-Nagy et al, 2004;Kim and Kim, 2014;Leow et al, 2002;Liua et al, 2008;Loh et al, 2003;Sharbafi et al, 2010;Tsai et al, 2011;Ushimi et al, 2003;Williams II et al, 2002). The omni wheel has free rollers around its outer circumference that can rotate passively.…”

Section: Introductionmentioning

confidence: 99%

“…Various reports concerning omni wheels have been published, such as reports on motion analysis and modeling of these wheels (Barreto S. et al, 2014;Conceição et al, 2009;Fisette et al, 2000;Huang, 2013;Leow et al, 2002;Loh et al, 2003;Williams II et al, 2002), their control (Kalmár-Nagy et al, 2004;Kim and Kim, 2014;Liua et al, 2008;Sharbafi et al, 2010), and the development of mobile robots or mobile devices using the wheels (Asama et al, 1995;Huang and Tsai, 2009;Iida et al, 2008;Sharbafi et al, 2010;Tsai et al, 2011;Ushimi et al, 2003). Another example of an omnidirectional mechanism is the Mecanum wheel (Dickerson and Lapin, 1991;Diegel et al, 2002;Harris, 2002;Indiveri, 2009;Saha et al, 1995;Salih et al, 2006;Viboonchaicheep et al, 2003).…”

Section: Introductionmentioning

confidence: 99%

Active omni wheel capable of active motion in arbitrary direction and omnidirectional vehicle

Komori

Matsuda

Terakawa

et al. 2016

JAMDSM

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A transportation vehicle or mobile robot that can move to a target location in an arbitrary direction on the floor is important to ensure that work can proceed quickly and effectively in a limited space. To move in an arbitrary direction, conventional methods such as omni wheels have free rollers along the outer circumference of the wheel that can rotate passively. However, the conventional methods are difficult to control precisely because of the rotational resistance of the free rollers. In addition, the direction that the conventional methods can move actively by themselves is limited. This paper proposes a novel mechanism called the active omni wheel, which is able to actively move in an arbitrary direction by using only one wheel unit. The active omni wheel is composed of a main body and outer rollers arranged around the outer circumference of the wheel. By using a differential gear mechanism, the active omni wheel enables active rotation of not only the main body of the wheel but also the outer rollers. The theoretical equation of motion of the active omni wheel is clarified to control the wheel. An omnidirectional vehicle using the active omni wheel is discussed. The appropriate arrangement of wheels that enables the omnidirectional vehicle to move actively in arbitrary directions by using the active omni wheel is shown and the motion theory is constructed. This paper also discusses the structure appropriate for the vehicle using the active omni wheel, including the arrangement of input shafts, the structure supporting the wheels, the main body of the vehicle, and its suspension. The active omni wheel and omnidirectional vehicle were designed and manufactured. Experiments conducted on the manufactured vehicle verify the effectiveness of the active omni wheel and the omnidirectional vehicle.

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FPGA-Based Parallel DNA Algorithm for Optimal Configurations of an Omnidirectional Mobile Service Robot Performing Fire Extinguishment

Cited by 53 publications

References 30 publications

FPGAs in Industrial Control Applications

FPGAs in Industrial Control Applications

Inverse kinematics of mobile manipulators based on differential evolution

Active omni wheel capable of active motion in arbitrary direction and omnidirectional vehicle

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