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Kinematic Modeling of a Rhex-Type Robot Using a Neural Network
Kinematic Modeling of a RHex-type Robot Using a Neural Network Mario Harpera, James Paceb, Nikhil Guptab, Camilo Ordonezb, and Emmanuel G. Collins, Jr.b aDepartment of Scientific Computing, Florida State University, Tallahassee, FL, USA bDepartment of Mechanical Engineering, Florida A&M - Florida State University, College of Engineering, Tallahassee, FL, USA ABSTRACT Motion planning for legged machines such as RHex-type robots is far less developed than motion planning for wheeled vehicles. One of the main reasons for this is the lack of kinematic and dynamic models for such platforms. Physics based models are difficult to develop for legged robots due to the difficulty of modeling the robot-terrain interaction and their overall complexity. This paper presents a data driven approach in developing a kinematic model for the X-RHex Lite (XRL) platform. The methodology utilizes a feed-forward neural network to relate gait parameters to vehicle velocities. Keywords: Legged Robots, Kinematic Modeling, Neural Network 1. INTRODUCTION The motion of a legged vehicle is governed by the gait it uses to move. Stable gaits can provide significantly different speeds and types of motion. The goal of this paper is to use a neural network to relate the parameters that define the gait an X-RHex Lite (XRL) robot uses to move to angular, forward and lateral velocities. This is a critical step in developing a motion planner for a legged robot. The approach taken in this paper is very similar to approaches taken to learn forward predictive models for skid-steered robots. For example, this approach was used to learn a forward predictive model for the Crusher UGV (Unmanned Ground Vehicle).1 RHex-type robot may be viewed as a special case of skid-steered vehicle as their rotating C-legs are always pointed in the same direction. -
Design and Development of a Portable Media Controlled Unmanned Ground Vehicle
A Project Report On DESIGN AND DEVELOPMENT OF A PORTABLE MEDIA CONTROLLED UNMANNED GROUND VEHICLE DEPARTMENT OF ELECTRONICS AND COMMUNICATION ENGINEERING SUBMITTED BY: RAJUS. KAMRAN AHMED R. S. VISHAAL JANAK SURESH UNDER THE GUIDANCE OF Prof. PAV AN KUMAR E. DEPARTMENT OF ELECTRONICS AND COMMUNICATION ENGINEERING SVIT SAl VIDYA INSTITUTE OF TECHNOLOGY, (Affiliated to VTU & Approved by AIeTE) Rajanukunte, Bangalore 560064 Design and Development of Portable Media Controlled UGV CHAPTER 1 PROJECT OVERVIEW 1.1 INTRODUCTION Reconnaissance is one of the key activities carried out by the military to explore areas and to gain information about enemy forces or features of the environment. With the advent of the modem robotics, manned vehicles like tanks and aircrafts are being used for the same purpose. But all these methods present one problem - Risk of losing human lives. As a result, unmanned vehicles both on air and ground have been developed by the military to facilitate instantaneous access to unknown territory while avoiding the risk of losing precious lives. Our project focuses on Unmanned Ground Vehicles, in short UGVs. Packbot 1.2 UNMANNED GROUND VEHICLE (UGV): A UGV is defined as a ground-based mechanical device that can sense and interact with its environment. It may possess any level of autonomy with respect to its human operator(s), from manual (where the human has complete control) to fully autonomous (where the robot can carry out assigned tasks on its own). UGVs have various sensors, cameras and arms mounted on them. They come in different sizes too. Some like the "Big-Dog" are monsters designed for assault while others like the "Packbot" are so compact, light and robust that one can carry them on the back. -
Panospheric Video for Robotic Telexploration
Panospheric Video for Robotic Telexploration John R. Murphy CMU-RI-TR-98-10 Submined in partial fulfiient of the requirements for the degree of Doctor of Philosophy in Robotics The Robotics Institute Cknegie Mellon University Pittsburgh, Pennsylvania 15213 May 1998 0 1998 by John R. Murphy. All rights reserved. This research was supported in part by NASA grant NAGW-117.5. The views and conclusions contained in this document are those of the author and should not be interpreted as representing the official policies, either expressed or implied, of NASA or the U.S. Government. Robotics Thesis Panospheric Video for Robotic Telexploration John Murphy Submitted in Partial Fulfillment of the Requirements for the Degree of Doctor of Philosophy in the field of Robotics ACC-. William L. Whittaka TheEis Cormittee Chair Date Matthew T. Mason- - Program Chir Y Date APPROVED: fL-4 36 JiiIff+? Pa Christian0 Rowst Date - Abstract Teleoperation using cameras and monitors fails to achieve the rich and natural perceptions available during direct hands-on operation. Optimally. a reniote telepresence reproduces visual sensations that enable equivalent understanding and interaction as direct operation. Through irnrnersive video acquisition and display. the situational awareness ola remote operator is brought closer lo that of direct operation. Early teleoperation research considered the value of wide tields of view. Howe~er. utilization of wide fields of view meant sacrificing resolution and presenting distorted imagery to the viewer. With recent advances in technology. these problems are no longer barriers to hyper-wide field of view video. Acquisition and display of video conveying the entire surroundings of a tclcoperated mobile robot requires innolwtion of hardware and software. -
Assessment of Couple Unmanned Aerial Vehicle-Portable Magnetic
International Journal of Scientific & Engineering Research Volume 11, Issue 1, January-2020 1271 ISSN 2229-5518 Assessment of Couple Unmanned Aerial Vehicle- Portable Magnetic Resonance Imaging Sensor for Precision Agriculture of Crops Balogun Wasiu A., Keshinro K.K, Momoh-Jimoh E. Salami, Adegoke A. S., Adesanya G. E., Obadare Bolatito J Abstract— This paper proposes an improved benefits of integration of Unmanned Aerial vehicle (UAV) and Portable Magnetic Resonance Imaging (PMRI) system in relation to developing Precision Agricultural (PA) that is capable of carrying out a dynamic internal quality assessment of crop developmental stages during pre-harvest period. A comprehensive review was carried out on application of UAV technology to Precision Agriculture (PA) progress and evolving research work on developing a Portable MRI system. The disadvantages of using traditional way of obtaining Precision Agricultural (PA) were shown. Proposed Model Architecture of Coupled Unmanned Aerial vehicle (UAV) and Portable Magnetic Resonance Imaging (PMRI) System were developed and the advantages of the proposed system were displayed. It is predicted that the proposed method can be useful for Precision Agriculture (PA) which will reduce the cost implication of Pre-harvest processing of farm produce based on non-destructive technique. Index Terms— Unmanned Aerial vehicle, Portable Magnetic Resonance Imaging, Precision Agricultural, Non-destructive, Pre-harvest, Crops, Imaging, Permanent magnet —————————— —————————— 1 INTRODUCTION URING agricultural processing, quality control ensure Inspection of fresh fruit bunches (FFB) for harvesting is a rig- that food products meet certain quality and safety stand- orous assignment which can be overlooked or applied physi- D ards in a developed country [FAO]. Low profits in fruit cal counting that are usually not accurate or precise (Sham- farming are subjected by pre- and post-harvest factors. -
Study of GSM Controlled Robotics
ISSN (Print) : 2320 – 3765 ISSN (Online): 2278 – 8875 International Journal of Advanced Research in Electrical, Electronics and Instrumentation Engineering (An ISO 3297: 2007 Certified Organization) Vol. 4, Issue 4, April 2015 Study of GSM Controlled Robotics S. Sentil Kumar Assistant professor, Department of Electronics and Instrumentation, Bharath University, Chennai, India ABSTRACT : The wireless controlled robots user circuits, which have a drawback of limited working range, limited frequency range and limited control. Use of mobile phones for robotic control can overcome these limitations. It provides the advantages of robust control, working range as large as the coverage area of the service provider, no interference with other controllers and up to twelve controls. Generally, the preceptors are sensors mounted on the robot, processing is done by the on board microcontroller and the task is performed using motors or with some other actuators. In the project the robot is controlled by a mobile phone that makes a call to the mobile phone attached to the robot. In the course of a call, if any button is pressed a tone corresponding to the button pressed is heard at the other end called ‘Dual Tone Multiple frequency’ (DTMF) tone. The robot receives these tones with help of phone stacked in the robot. The “GSM Technology Demonstrator” robot is remotely controlled by a mobile phone using GPRS and is able to receive and reply to SMS and MMS messages. I. INTRODUCTION A remote control vehicle is defined as any mobile device that is controlled by a means that does not restrict its motion with an origin external to the device. -
DTMF Operated Robot for Space Operation
International Conference Recent treads in Engineering & Technology (ICRET’2014) Feb 13-14, 2014 Batam (Indonesia) DTMF Operated Robot for Space Operation Jasleen Josan now-defunct menu selector keys. The row in which the key Abstract—Dual-tone Multi-frequency (DTMF) Signals are appears determines the low frequency, and the column used in touch-tone telephones as well as many other areas. determines the high frequency. For example, pressing the '1' Since analog devices are rapidly changing with digital devices, key will result in a sound composed of both a 697 and a digital DTMF decoders become important. In this survey a 1209 hertz (Hz) tone. The original keypads had levers inside, brief review of some DTMF detector implementations is so each button activated two contacts. The Multiple tones are given. The Aim of this paper is to implement a DTMF the reason for calling the system multi frequency. These tones detector, which is ITU complaint, on a fixed point low cost are then decoded by the switching center to determine which DSP. This detector should be able to detect DTMF tones in key was pressed. multiple-channels with as much as possible channels. Microcontrollers, as the name suggests, are small controllers. They are also used in automobiles, washing machines, microwave ovens, toys .etc. where automation is needed. Keywords— DTMF, PWM, Path finder, Radio control , multi- frequency. A DTMF Telephone Keypad I. INTRODUCTION DTMF Keypad Frequencies (With Sound Clips) 1209 Hz 1336 Hz 1477Hz 1633 Hz ADIO control (often abbreviated to R/C or simply RC) is 697 Hz 1 2 3 A R the use of radio signals to remotely control advice. -
Ffc91dc63bf8b9ee2c9ed18
0 0 10 . 7 4 $ A D A N A C 0 5 . 5 $ 71486 02422 . $5.50US $7.00CAN S . 0 U CoverNews_Layout 1 9/4/2012 9:03 PM Page 1 Vol. 10 No. 10 SERVO MAGAZINE TROUBLESHOOTING ARDUINOBOTS • WEDGIE • QUADCOPTER • NEMO10 • ROBOT CONTROL October 2012 Full Page_Full Page.qxd 8/7/2012 11:57 AM Page 2 RUBBER TREADS STANDOFFS ROBOT CONTROLLER GEARMOTORS MOTOR/ METAL POLOLU.COM! ORDER AT NEEDED: LASER-CUT CHASSIS!! SHARP DISTANCE SENSORS GEARMOTOR METAL ORANGUTAN CONTROLLER SIMPLE MOTOR CONTROLLER ! CODE TREX JR CONTROLLER USE COUPON SERVO383 ACCELEROMETER? ? ORDER AT POLOLU.COM! NEEDED: LASER-CUT PIECES SHARP SENSORS? SERVOS JRK CONTROLLER? CHECK OUT SMC? USE COUPON CODE! ROBOT876 Take your design from idea to reality Engage Your Brain www.pololu.com TOC SV Oct12.qxd 9/4/2012 2:57 PM Page 4 10.2012 VOL. 10 NO. 10 Columns 08 Robytes by Jeff Eckert Stimulating Robot Tidbits 10 GeerHead by David Geer Collaborating With Hubo 14 Ask Mr. Roboto by Dennis Clark Your Problems Solved Here 74 Then and Now by Tom Carroll The Many Ways to Control a Robot Departments PAGE 10 06 Mind/Iron 20 Events The Combat Zone... Calendar 21 Showcase 32 BUILD REPORT: Testing the Prototype: Klazo — 22 New Products My 1 lb Drumbot From 26 Bots in Brief Kitbots.com 66 SERVO 34 Upcoming Events Webstore 80 Robo-Links 35 Clash of the Bots 3 80 Advertiser’s 38 The History of Robot Combat: Index PAGE 26 Robot Battles at Dragon*Con SERVO Magazine (ISSN 1546-0592/CDN Pub Agree#40702530) is published monthly for $24.95 per year by T & L Publications,Inc., 430 Princeland Court, Corona, CA 92879. -
Unclassified Unclassified
UNCLASSIFIED Exhibit R-2, RDT&E Budget Item Justification Date: February 2003 APPROPRIATION/BUDGET ACTIVITY R-1 ITEM NOMENCLATURE DEFENSE WIDE RDT&E BA 4 JOINT ROBOTICS PROGRAM PE 0603709D8Z COST ($ in millions) FY 2002 FY 2003 FY 2004 FY 2005 FY 2006 FY 2007 FY 2008 FY 2009 Total PE Cost- 12.558 19.943 11.515 11.791 11.921 12.164 11.832 12.124 JOINT SERVICE EOD 2.680 2.100 0.790 0.810 0.820 0.840 0.814 0.814 JAUS 0.800 1.000 0.901 0.876 1.029 1.115 1.203 1.339 GLADIATOR 1.120 2.105 1.140 1.140 1.152 1.220 1.090 1.211 RCSS 2.040 2.318 1.058 1.060 1.100 1.120 1.094 1.120 MPRS 1.108 2.020 1.058 1.065 1.100 1.123 1.090 1.120 INTELLIGENT MOBILITY 1.010 1.200 1.148 1.120 1.139 1.420 1.261 1.230 RACS 3.800 5.200 5.220 5.520 5.310 5.326 5.280 5.290 COTS 0.000 4.000 0.200 0.200 0.200 0.000 0.000 0.000 A. Mission Description and Budget Item Justification: This program is a budget activity level 4 based on the concept/technology development activities ongoing within the program. This PE was established in response to Congressional guidance to consolidate DoD robotic programs on unmanned ground systems and related robotic technologies in order to increase focus of the Services’ robotic programs on operational requirements. -
Design of an Open Source-Based Control Platform for an Underwater Remotely Operated Vehicle Diseño De Una Plataforma De Control
Design of an open source-based control platform for an underwater remotely operated vehicle Luis M. Aristizábal a, Santiago Rúa b, Carlos E. Gaviria c, Sandra P. Osorio d, Carlos A. Zuluaga e, Norha L. Posada f & Rafael E. Vásquez g Escuela de Ingenierías, Universidad Pontificia Bolivariana, Medellín Colombia. a [email protected], b [email protected], c [email protected], d [email protected], e [email protected], f [email protected], g [email protected] Received: March 25th, de 2015. Received in revised form: August 31th, 2015. Accepted: September 9th, 2015 Abstract This paper reports on the design of an open source-based control platform for the underwater remotely operated vehicle (ROV) Visor3. The vehicle’s original closed source-based control platform is first described. Due to the limitations of the previous infrastructure, modularity and flexibility are identified as the main guidelines for the proposed design. This new design includes hardware, firmware, software, and control architectures. Open-source hardware and software platforms are used for the development of the new system’s architecture, with support from the literature and the extensive experience acquired with the development of robotic exploration systems. This modular approach results in several frameworks that facilitate the functional expansion of the whole solution, the simplification of fault diagnosis and repair processes, and the reduction of development time, to mention a few. Keywords: open-source hardware; ROV control platforms; underwater exploration. Diseño de una plataforma de control basada en fuente abierta para un vehículo subacuático operado remotamente Resumen Este artículo presenta el diseño de una plataforma de control basada en fuente abierta para el vehículo subacuático operado remotamente (ROV) Visor3. -
V Ol. 1 0 No. 9 S E R V O MA GAZINE TIGERBO T • R OS on a C HIP • P AR ALL AX QU ADCOPTER • MA TE R O V 20 1 2 September 2
09 4 $7.00 CANADA $5.50 71486 02422 $5.50US $7.00CAN 0 U.S. CoverNews_Layout 1 8/8/2012 10:02 AM Page 1 Vol. 10 No. 9 SERVO MAGAZINE TIGERBOT • ROS ON A CHIP • PARALLAX QUADCOPTER • MATE ROV 2012 September 2012 Full Page_Full Page.qxd 8/7/2012 11:57 AM Page 2 TOC SV Sep12.qxd 8/7/2012 9:51 PM Page 4 09.2012 VOL. 10 NO. 9 PAGE 68 Columns 08 Robytes by Jeff Eckert Stimulating Robot Tidbits 10 GeerHead by David Geer RIT TigerBot: A Platform for Important Medical Research 14 Ask Mr. Roboto by Dennis Clark Your Problems Solved Here 68 Twin Tweaks by Bryce and Evan Woolley The Cobra Strikes Again 74 Then and Now by Tom Carroll Sensors for Mobile Robots — PAGE 08 Part 4 Departments 06 Mind/Iron PAGE 22 07 Bio-Feedback 19 Events Calendar PAGE 74 20 New Products 21 Showcase 22 Bots in Brief The Combat Zone... 64 SERVO 30 Webstore BUILD REPORT: Siafu: An Army of Ants — Part 4 80 Robo-Links 80 Advertiser’s 33 Upcoming Events Index SERVO Magazine (ISSN 1546-0592/CDN Pub Agree#40702530) is published monthly for $24.95 per year by T & L Publications,Inc., 430 Princeland Court, Corona, CA 92879. PERIODICALS POSTAGE PAID AT CORONA, CA AND AT ADDITIONAL ENTRY MAILING OFFICES. POSTMASTER: Send address changes to SERVO Magazine, P.O. Box 15277, North Hollywood, CA 91615 or Station A, P.O. Box 54,Windsor ON N9A 6J5; [email protected] 4 SERVO 09.2012 TOC SV Sep12.qxd 8/7/2012 9:52 PM Page 5 In This Issue .. -
(12) United States Patent (10) Patent No.: US 9,493.235 B2 Zhou Et Al
USOO949.3235B2 (12) United States Patent (10) Patent No.: US 9,493.235 B2 Zhou et al. (45) Date of Patent: Nov. 15, 2016 (54) AMPHIBIOUS VERTICAL TAKEOFF AND (58) Field of Classification Search LANDING UNMANNED DEVICE CPC ................. B64C 29/0033; B64C 35/00; B64C 35/008; B64C 2201/088: B60F 3/0061; (71) Applicants: Dylan T X Zhou, Tiburon, CA (US); B6OF 5/02 Andrew H B Zhou, Tiburon, CA (US); See application file for complete search history. Tiger T G Zhou, Tiburon, CA (US) (72) Inventors: Dylan T X Zhou, Tiburon, CA (US); (56) References Cited Andrew H B Zhou, Tiburon, CA (US); Tiger T G Zhou, Tiburon, CA (US) U.S. PATENT DOCUMENTS (*) Notice: Subject to any disclaimer, the term of this 2.989,269 A * 6/1961 Le Bel ................ B64C 99. patent is extended or adjusted under 35 3,029,042 A 4, 1962 Martin ...................... B6OF 3.00 U.S.C. 154(b) by 0 days. 180,119 (21) Appl. No.: 14/940,379 (Continued) (22) Filed: Nov. 13, 2015 Primary Examiner — Joseph W. Sanderson (74) Attorney, Agent, or Firm — Georgiy L. Khayet (65) Prior Publication Data Related U.S. Application Data An amphibious vertical takeoff and landing (VTOL) (63) Continuation-in-part of application No. 13/875.311, unmanned device includes a modular and expandable water filed on May 2, 2013, now abandoned, and a proof body. An outer body shell, at least one wing, and a (Continued) door are connected to the modular and expandable water proof body. A propulsion system of the amphibious VTOL (51) Int. -
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