Robotic Vehicle Research Articles

Analytical and Numerical Study of Underwater Tether Cable Dynamics for Seabed Walking Robots Using Quasi-Static Approximation

In this study, the dynamics of tether cables (TCs) that connect a surface ship and a walking robotic vehicle on the seabed are numerically investigated. The main aim of this study is to develop a reliable prediction model for the dynamic behavior of TCs attached to a seabed walking robot. This system consists of a surface ship, underwater manned seabed walking robot (UMSWR), TC, and winch. The study is comprised of mathematical modeling and numerical simulations of the developed governing equations for the TC dynamics. A relatively simple and efficient mathematical analysis method is proposed to determine the configuration and forces on the TC under a steady state. The problem is solved using the quasi-static technique and lumped mass parameters for discretizing and modeling the dynamics of the TC. Based on the static analysis of the Morrison equation and finite segment method, analytical formulas of the steady-state equation of TC were obtained and solved. The effects of variable water density and variable underwater currents are included in the cable behavior. Consequently, the two-dimensional TC profile and axial tension were estimated in a steady-state configuration. The developed equations were simulated in MATLAB software. Several numerical simulation examples were worked out, demonstrating the accurate performance of the method. Various input parameters of the system and their relationships with the output values were investigated, thereby demonstrating the versatility of the method.

Robust Visual Odometry On $\text{SE}(3)$: Design and Verification

Visual odometry is a crucial technique for estimating a robotic vehicle's trajectory by analyzing images captured by its onboard camera when the vehicle's attitude cannot be retrieved. However, uncertainties such as modeling errors, measurement noise, misidentification of feature marks, and the switching output arising from visual geometric constraints can all hinder accurate estimations. To address these challenges, this article proposes a robust visual odometry that can be implemented in a sampled-data structure. Comprehensive simulations and experiments are conducted to demonstrate the effectiveness of the proposed design and to explore the relationship between design parameters and estimation performance. In addition, tuning guidelines for visual odometry parameters are provided to help address these uncertainties effectively.

Research and Implementation of Intelligent Control System for Grassland Grazing Robotic Vehicle

In response to the complex animal husbandry environment, wide livestock range, and labor shortage in Inner Mongolia grasslands, this study designed an intelligent control system for robotic vehicles used in natural grazing grassland environments. The control system consists of software and hardware components and motion control algorithms. Based on the application characteristics of different mechanisms of the robotic vehicle, the motion control of the robotic vehicle is decomposed into longitudinal speed control and lateral steering control. The longitudinal speed control adopts the traditional Proportional-Integral-Differential (PID) control method. Since the hardware composition and internal angle calculation method of the steering system are complex and prone to deviations caused by external terrain, a lateral adaptive fuzzy PID controller was constructed with lateral deviation and deviation change rate as input variables and parameters Kp, Ki, and Kd as outputs. The field test results show that when the longitudinal speed was set to 0.5 m/s, the adjustment time was 1.95 s, and the steady-state error was about 0. When the longitudinal speed was the same, the lateral adaptive fuzzy PID controller reduced the rise time by 0.77 s compared to traditional control methods, reduced overshoot and steady-state error by 2%, and quickly recovered to a steady state after being disturbed. The following test results show that the designed intelligent control system can achieve real-time tracking of targets and that the motion controllers can effectively control speed and steering angle. Therefore, the intelligent control system designed in this paper can effectively achieve stable and real-time control of the robotic vehicle.

Model-Free Adaptive Disturbance Rejection Control of An RSV With Hardware-in-The-Loop Experiments

This paper reports a model-free adaptive disturbance rejection control method for the surge velocity tracking of a robotic surface vehicle (RSV) in the presence of unknown external disturbances, internal dynamics, and control coefficient. Specifically, reduced-order and full-order filtering adaptive extended state observers (FAESOs) are proposed at first, for estimating the unknown control coefficient, and the lumped disturbance consisting of the unknown external disturbances and internal dynamics, simultaneously. Based on the FAESO, a model-free adaptive disturbance rejection surge velocity tracking control law is derived. A key advantage of the proposed method is that it results in uniform control performance within large variation range of control coefficient regardless of the fully unknown model. The efficacy of the developed model-free adaptive disturbance rejection control method for the surge velocity tracking of RSV is substantiated by comparing simulations and hardware-in-the-loop experiments.

Improving the method of controlling the search for surface and underwater objects by a hybrid robotic complex

One of the important scientific tasks of organising the control of searching for surface and underwater objects is to ensure the efficiency and trouble-free movement of a hybrid robotic complex in the modes of transition and search operation. An analysis of modern methods of controlling the search for surface and underwater objects by robotic vehicles in search operations, scientific and environmental research, monitoring, inspection and military underwater operations shows the need to use hybrid robotic systems. As part of the intellectualisation of the route planning process, it is relevant to solve the problem of synthesising an optimal trajectory to ensure that the search is carried out in all designated areas of the operation. The paper solves the problem of organising the management of searching for surface and underwater objects by a hybrid robotic complex, namely, building a route in the area of interest as an optimal spline trajectory of a moving object. The possibility of constructing a navigation function through the effective use of the curvature of the spline trajectory as a reproductive template for constructing an axonometric projection is determined. To accomplish this task, the paper improves the method of controlling the search for surface and underwater objects by a hybrid robotic complex by formalising the processes of planning the route of the hybrid robotic complex and the processes of information processing, forecasting the navigation situation and choosing a strategy for preventing dangerous situations by combining intelligent and numerical methods. The developed algorithm for constructing a search route for a hybrid robotic complex allows automated formation of spline trajectories in real time with synchronous submission of information about the parameters of the route to the control system of the hybrid robotic complex. This approach makes it possible to automate the search operation process and apply it in the CoCoRo and e-Navigation concepts

Unsteady Propulsion of a Two-Dimensional Flapping Thin Airfoil in a Pulsating Stream

The cruising velocity of animals, or robotic vehicles, that use flapping wings or fins to propel themselves is not constant but oscillates around a mean value with an amplitude usually much smaller than the mean, and a frequency that typically doubles the flapping frequency. Quantifying the effect that these velocity fluctuations may have on the propulsion of a flapping and oscillating airfoil is of great relevance to properly modeling the self-propelled performance of these animals or robotic vehicles. This is the objective of the present work, where the force and moment that an oscillating stream exerts on a two-dimensional pitching and heaving airfoil are obtained analytically using the vortical impulse theory in the linear potential flow limit. The thrust force of the flapping airfoil in a pulsating stream in this limit is obtained here for the first time. The lift force and moment derived here contain new terms in relation to the pioneering work by Greenberg (1947), which are shown quantitatively unimportant. The theoretical results obtained here are compared with existing computational data for flapping foils immersed in a stream with velocity oscillating sinusoidally about a mean value.

ELDOC - Design of Electric Dolly Camera for Video Recording Using the Omni-Direction Wheel

The dolly camera has function as a regulator of camera movement in making video productions such as films. The movement system on the dolly camera uses the thrust of humans and the running track rail for its movement. The process of preparing the dolly camera also requires a long process, such as assembling the dolly camera and then installing the track, etc. In this case study, we conducted research that designed an electric vehicle to carry a camera but with a simple way of working such as moving without rails and can be controlled with a mobile android. We named this robot vehicle ELDOC: Electric Dolly Camera which uses a four Omni-direction wheels system in the flexibility of direction and motion for taking videos and pictures. Contributions to the design of ELDOC in addition to the multimedia/cinematography field can also be used in the medical field as a monitoring tool for patient activities in isolation or ICU room with a mobile android from different rooms. In the results of the process running on the motor, we take error data from the calculation speed and measurement speed, wherein the duty circle is 19.60%, 38.50%, 58.8%, 78.66%, and the average error is 0,08. The stability level of the ELDOC when carrying the camera is stable but has vibrations or oscillations. The results of the data orientation (gyroscope) show the total average of the three samples Y (Roll) orientation is 0.6°/s and X (Pitch) orientation is 0.18°/s.

Design and Implementation of Robotic Arm for Pick and Place by using Bluetooth Technology

In today's age of advanced computing, robots are far more reliable than humans when it comes to doing hazardous jobs. Earlier iterations of robotics required human interaction, but recent advancements in wireless technology have made it possible to operate robots wirelessly, via Bluetooth, for example. The robot in this papercan be operated wirelessly through Bluetooth. An android app coupled with a microcontroller performs the necessary functions. Bluetooth is used to establish a link between the smartphone app and the car. The user operates the robot using buttons on the app. The robot can move thanks to two dc servo motors that are linked to a microcontroller on the receiving end. For the wireless RF transmitter to reach the robot, it must first transform the Bluetooth orders into digital signals.The data is received by the receiver, where it is decoded, and sent on to the microcontroller, which in turn controls the DC motors to perform the required action. The purpose of this studyis to develop and deploy a low-priced, adaptable, and secure Bluetooth-controlled robotic vehicle capable of carrying out the user's specified tasks. Bluetooth has several benefits as an interface medium. To begin, you won't need any special instruction to use this technology. Second, if services were simplified, more people would use them, and those with a wider range of impairments would be able to use the same tools as everyone else.

Experimental proof-of-concept of the effect of inlet geometry on excavation forces and their reduction for small-scale continuous excavators

Future in situ resource utilisation (ISRU) lunar mission concepts will require mechanisms that allow the available feedstock–mainly the lunar regolith–to be extracted from the lunar surface. Such extraction techniques in the reduced gravity environment of the Moon will need to minimise excavation forces, due to mass restrictions for robotic landers/vehicles and the large financial implications of placing cargo onto Earth’s satellite. An investigation of necessary excavation forces, both horizontally as well as vertically, for small-scale continuous lunar excavation systems based on their geometric inlet shapes, cutting angles, and digging depths has been undertaken. The use of vibration to disaggregate lunar soil and to reduce the necessary forces is explored as a proof-of-concept. Tests performed in a large analogue testbed have shown that the optimisation of the cutting geometry is crucial, as it inherently influences the necessary forces or even prevents deeper cuts into the soil. Our experiments indicate that shallow cuts (low digging depth) into soil at shallow angles are beneficial, and that the piling up of large surcharge masses must be avoided. Critically, applying vibration to cutting edges seems highly beneficial, as the achievable force reductions of up to 50% in the tested conditions far outweigh the additional power requirements. To make these implications immediately applicable to a wider audience, an estimation of available traction forces for certain robotic vehicles based on their mass is added for comparison.

Surveillance and image processing with Off-Terrain vehicle

From industry to entertainment, a variety of industries use automatic and remote-controlled robotic automation systems extensively. These robots are mainly meant for surveillance and regions inaccessible to humans. It is simple to use and can be adapted to a wide range of applications. Robotic vehicles with the use of a remote-control application and a wireless camera for monitoring purposes will be developed. Real-time video will be transmitted wirelessly by using robot and camera. In this robot we haven’t incorporated the night vision camera but, it can be manipulated for night vision. The project is not intended for military use or any other illegal or unethical purposes. Given that Wi-Fi technology is still relatively young in comparison to other technologies, there is enormous room for growth and useful use. The system will respond to particular commands given by the user, like moving forward, backward, left, right. The security system for remote monitoring is installed with the CMOS camera and motion detector. Using the Raspberry Pi, this robot is capable of performing multiple functions, including surveillance, motion detection and image processing, especially those that can be programmed by computers. A human operator can command a robot, sometimes from a significant distance. Communications using Wi-Fi technology is very crucial in this kind of application. This article also illustrates the basic concept, design of the robot. The surveillance robot prototype shown in this project has been used to monitor and spot unauthorized people who might be a threat or aren't supposed to be in a certain place as well as suspicious actions. The robot has facial recognition software from Raspberry Pi and can be controlled remotely and be watched for suspicious activity thanks to Wi-Fi connectivity and Raspberry Pi programming. There are several possible uses for this technology, including use in places like shopping centres, banks, and jails. To make sure that the robot is not utilized for any unlawful or unethical reasons, it is vital to confirm that any prospective applications are morally and legally acceptable.

Experiment study of an automatic guided vehicle robot

<p>This paper presents the design and control of an autonomous robot-automation guided vehicle (AGV) with a load of 50 kg and a DC motor in theory and experiment. This robot has the function of transporting tools and equipment in the factory. This robot is designed and built control system including hardware and software. In which microcontroller type STM32F407VG is selected to control the primary system. The AGV robot is controlled to move according to the required trajectory. A PID controller controls the DC motor. The AGV robot moves precisely according to the routes set in the factory. At the same time, the AGV has good obstacle avoidance. The results of the proposed solution are proven through simulation and experiment.</p>

Land Mine Detection Robotic Vehicle with GPS and GSM Tracking System

Abstract: This paper presents a new system for landmine detection that combines advanced technology with ease of use. The proposed system is a robot vehicle equipped with a metal detector, GPS, GSM, and a microcontroller that enables it to detect and locate landmines in real-time. The robot vehicle is designed to be controlled remotely by a smartphone app, making it suitable for use in hazardous areas without risking human life. The GPS and GSM capabilities of the robot vehicle allow it to transmit its location and detected data to a control center, making it easy for operators to track and analyze the data. The proposed system is a significant advancement in landmine detection technology, offering a safe, efficient, and reliable solution for detecting landmines in hazardous areas.

Balancing-Prioritized Anti-Slip Control of a Two-Wheeled Inverted Pendulum Robot Vehicle on Low-Frictional Surfaces with an Acceleration Slip Indicator

When a two-wheeled inverted pendulum (TWIP) robot vehicle travels on slippery roads, the occurrence of wheel slip extremely threatens its postural stability owing to the loss of wheel traction. If a severe wheel slip happens between the driving wheels and contact surfaces, no control techniques can guarantee the driving performance and stability of the TWIP robots in the absence of an extra wheel slip control strategy. In this paper, a TWIP-compatible countermeasure against the wheel slip phenomena is investigated for enhancing the reliability of the vehicle and the robustness of the motion control performance on low-frictional surfaces. To this end, we propose a balancing-prioritized anti-slip control method based on the maximum transmissible torque estimation, which is activated only when a wheel slip is detected by the acceleration slip indicator utilizing accessible data from the IMU and wheel encoders. It is proved that the TWIP vehicles applying the proposed method can successfully cope with low frictional surfaces while maintaining postural stability. Finally, comparative simulations and experiments demonstrate the effectiveness and feasibility of the proposed scheme.

3D Point Cloud Processing with Deep Neural Networks for Robotics and Autonomous Vehicles

3D Point Cloud Processing with Deep Neural Networks for Robotics and Autonomous Vehicles

Metal Detection Using RF Controlled Robotic Vehicle

Abstract: The use of robotics in various industries and manufacturing applications has been on the rise in recent years, as they can perform tasks with high precision and speed. One such application is pick and place operations, which involves the picking up and placing of objects in specific locations. However, in some cases, it is necessary to detect the presence of metal objects to ensure that the operation is carried out correctly and safely. In this context, the proposed system aims to combine pick and place operations with metal detection using RF-controlled robotic vehicles. The system consists of a remote-control unit, a metal detector module, and a robotic vehicle with a pick and place arm. The remote-control unit allows the operator to send commands wirelessly to the robotic vehicle, enabling it to move to a specific location and perform a pick and place operation. The metal detector module is integrated into the robotic vehicle and can select the presence of metal objects in its path. If a metal object is detected, the robotic vehicle stops and alerts the operator through the remote-control unit. Overall, this system offers an efficient and reliable solution for pick and place operations in environments where metal detection is necessary. The use of RF – controlled robotic vehicles allows for increased flexibility and ease of operation, while the integration of metal detection ensures that the system can operate safely and effectively.

Camouflage Robot for Military Application

Abstract: This paper presents a modern approach for surveillance at remote and border areas using multifunctional robot based on current IOT technology used in defense and military applications. This robotic vehicle has ability to substitute thesoldier at border areas to provide surveillance. The robotic vehicle works both as autonomous and manually controlled vehicle using internet as communication medium. This multisensory robot used to detect human, bombs, harmful gases at remote and war field areas. Conventionally, wireless security robot is obsolete due to limited frequency range and limited manual control. It can eliminate the need of deploying humans at hostile conditions at all the times. Moreover, in case if something suspicious is detected by the system, it must be able to take the necessary decisions and hence actions along withissuing alert messages for the human controllers. This robotic vehicle is designed for reconnaissance as well as surveillanceunder certain circumstances.

Development of Monocular Vision based Autonomous Car

Abstract: The evolution of the artificial intelligence has served as the catalyst in the field of technology. We can now develop things which was once just an imagination. One of such creation is the birthof Autonomous cars. Days have come one can do their work even touching steering wheel, accelerator you will still be able to reach your target destination safely. Self-driving car (Autonomous cars) is a robotic vehicle that is designed to travel between destinations without human intervention. It is capable of sensing environment and navigate without human input. Autonomous cars must have control systems that are capable of analysing sensor data to distinguish between different cars on the road. The potential benefits of autonomous cars include reduced mobility and infrastructure costs, increased safety, increased mobility, increased customer satisfaction and reduced crime. Self-driving cars rely on software which needs to be thoroughly tested. Testing self-drivingcar software in real traffic is not only expensive but also dangerous and has already caused fatalities. Virtual tests, in which self-driving car software is tested in computer simulations, offer a more efficient and safer alternative compared to naturalistic field operational tests. However, creating suitable test scenarios is laborious and difficult. In this paper we combine procedural content generation, a technique commonly employed in modern video games, and search-based testing, a testing technique proven to be effective in many domains, in order to automatically create challenging virtual scenarios for testing self-driving car soft- ware. Our as Fault prototype implements this approach to generate virtual roads for testing lane keeping, one of the defining features of autonomous driving. Evaluation on two different self-driving car software systems demonstrates that as Fault can generate effective virtual road networks that succeed in revealing software failures, which manifest as cars departing their lane. Compared to random testing as Faultwas not only more efficient, but also caused up to twice as many lane departures

Robust Model Predictive Control Based on Active Disturbance Rejection Control for a Robotic Autonomous Underwater Vehicle

This work aims to develop a robust model predictive control (MPC) based on the active disturbance rejection control (ADRC) approach by using a discrete extended disturbance observer (ESO). The proposed technique uses the ADRC approach to lump disturbances and uncertainties into a total disturbance, which is estimated with a discrete ESO and rejected through feedback control. Thus, the effects of the disturbances are attenuated, and a model predictive control is designed based on a canonical model free of uncertainties and disturbances. The proposed control technique is tested through simulation into a robotic autonomous underwater vehicle (AUV). The AUV’s dynamic model is used to compare the performance of a classical MPC and the combined MPC-ADRC. The evaluation results show evidence of the superiority of the MPC-ADRC over the classical MPC under tests of reference tracking, external disturbances rejection, and model uncertainties attenuation.

Conceptual Design of a Robotic Ground-Aerial Vehicle with an Aeroelastic Wing Model for Mars Planetary Exploration

This paper presents the technical barriers and an analysis to advance the conceptual development of novel robotic ground-aerial vehicles (RGAVs) for exploration missions to Mars prior to human arrival and the establishment of a base. The concept for RGAVs for Mars planetary exploration is novel, and will require innovations that are at various stages of development or use by the aerospace community. The RGAV concept will utilize inflatable wing technology, which increases the flexibility of the wing, and thus the possibility of structural dynamic instabilities that must be studied in the context of the Martian atmosphere. An aeroelastic model for wing bending is proposed, which considers wind gusts where the change in wind direction is up to ±6° from the mean, and a turbulence intensity of up to 20%. Their effect on the bending displacement of a semi-elastic wing is quantified, resulting in a maximum wing tip displacement of 16.2 cm. Low-fidelity computational aerodynamic analysis is performed using OpenVSP (3.31.1, NASA, Washington, DC, USA) to compute mean aerodynamic loads during cruise conditions at a cruise Mach number of 0.70. Finally, a non-linear adaptive control system is proposed for the longitudinal aerial dynamics and a proportional integral derivative (PID) controller is outlined for the ground roving lateral dynamics.

The Gamma and Neutron Sensor System for Rapid Dose Rate Mapping in the CLEANDEM Project.

The decommissioning of nuclear installations, as well as the possible necessary accident remediations, requires the physical presence of human operators in potentially radiologically hostile environments. The number of active nuclear reactors worldwide is greater than 400, and most of them are 40 to 50 years old, thus implying that soon they will have to be dismantled. In the framework of the H2020 CLEANDEM project, a small robotic vehicle is being developed that is equipped with a series of different sensors for areas that are significantly contaminated by radiation. In this work, we describe the MiniRadMeter system, a compact low-cost sensor capable of being used to perform quick gamma and neutron radiation field mapping of environments prior to the possible start of human operations. The miniature gamma sensor is a 1 cm3 scintillator counter with moderate spectroscopic features read out by means of a 6 × 6 mm2 SiPM, whereas neutrons are detected by means of a silicon diode coupled to a layer of 6LiF and placed inside a 6 × 6 × 6 cm3 polyethylene box. The front-end and data acquisition electronics were developed based on a Raspberry Pi4 microcomputer. In this paper, the system performance and the preliminary test results are described.