Inexpensive Robot Research Articles

Tracking the stars, Sun, and Moon to connect with the universe

We describe the theory, design, and construction of simple electromechanical devices that automatically and continually track celestial objects. As Earth rotates and revolves, a star tracker always points at a star or other objects fixed to the celestial sphere, such as the center of the Milky Way galaxy. A planet tracker can fixate on any celestial object including the planets, the Sun, or the Moon. A sidereal clock mechanism drives the star tracker, and software that encodes astronomical algorithms controls an inexpensive robot that drives the planet tracker. The star tracker acts like a gyroscope, rigidly oriented in space, despite Earth’s motion. Both trackers indicate the passing of time just like clocks and calendars. The resulting lecture, hallway, or museum displays promote awareness of and excitement about our place in the universe.

A tale of two platforms

This synopsis presents work with two inexpensive robot platforms on which we have implemented a vision-based FastSLAM algorithm for landmark mapping. The results reinforce the educational scalabili...

Language engineering in the context of a popular, inexpensive robot platform

Language engineering - the theory and practice of building language processors and compilers, has long been recognized as important subject in Computer Science curricula. However, due to lack of suitable target systems, educators face significant challenges to teach language engineering classes effectively. Leveraging the emerging inexpensive robot devices, this paper presents a new approach of using robots as system context to teach language engineering topics. We designed the Chirp-Scribbler Language, which targets the popular Scribbler robot; combined together, they provide an engaging and feature-rich platform to teach a wide range of topics in language engineering. This paper describes the Chirp-Scribbler Language, its integration with the target robot, and the teaching practice of using them to teach language translation basics in an undergraduate programming course.

Vision-based remote control of cellular robots

This paper describes the development and design of a vision-based remote controlled cellular robot. Cellular robots have numerous applications in industrial problems where simple inexpensive robots can be used to perform different tasks that involve covering a large working space. As a methodology, the robots are controlled based on the visual input from one or more cameras that monitor the working area. As a result, a robust control of the robot trajectory is achieved without depending on the camera calibration. The remote user simply specifies a target point in the image to indicate the robot final position. We describe the complete system at various levels: the visual information processing, the robot characteristics and the closed loop control system design, including the stability analysis when the camera location is unknown. Results are presented and discussed. In our opinion, such a system may have a wide spectrum of applications in industrial robotics and may also serve as an educational testbed for advanced students in the fields of vision, robotics and control.

Technology Developments for Planetary Rovers and Spin-Offs for Industrial Applications

In space exploration, micro-rovers provide basic mobility functions for planetary surface investigation at small mass requirements. This paper reviews the design and development of the European Mars-rover MIDD (Mobile Instrument Deployment Device) for ESA, in particular the use of microsystems, the operations concept and the autonomous control capabilities. The implemented functionalities offer interesting application potential also in industrial environments. Spin-off areas are addressed with emphasis on sensor data fusion methods to implement robust, inexpensive robot sensor systems for obstacle avoidance and status characterisation, teleservicing of remote machines in production and autonomous decision making strategies for decentralised equipment.

An Advanced Robot Control System Using a DSP-Based Vector Computation Engine

In this paper, explanations for the configuration and usage of a vector computation engine designed to meet the growing demand for higher-speed operation, more precise robotics and real-time motion simulation are given. Presented is an example of its application to a robot controller making full use of high operational performance. This engine is a floating-point vector processor based on a single-chip digital signal processor (μPD77230) with vector matrix and various functions such as a trigonometrical function, data transfer functions-- being built into an internal instruction memory. In this engine, a multiplication of 4 × 4 element transformation matrices can be done in less than 30pseconds. Active stiffness control operation (involving force control in addition to position control) in less than 0.7 milliseconds. In other words, this single-chip engine makes it possible to achieve high-level control comparable to a minicomputer, thus providing a compact, light and inexpensive robot controller.

Analysis of the potential impacts of automation and robotics on locomotive rebuilding

Maintenance shops appear to be the most likely locations for robots in the railroad industry. The few robots that railroads have installed are found in shops, and shop activities such as welding, grinding, cleaning, and painting are well-suited to the use of standard robots. The study identifies and evaluates more than two dozen technically feasible applications at Conrail's Juniata locomotive rebuilding shop. Fewer than half showed financial merit, primarily because of the high investment cost and the low potential for labor savings. Proposals to install an automated glass bead blasting booth and an arc welding center were deferred because competing projects had higher returns. In short the application of robotics technology was found to have only a limited potential for improving the productivity of modern railroad shops. As the state-of-the art advances, more applications will be both technically and economically attractive, but the impact on railroad maintenance will likely remain modest until equipment is redesigned to be maintained with simple, inexpensive robots.