Wireless Mobile Robot Research Articles

Review on Design and Development of Four Directional Fire Protection System

Abstract: The Development of an autonomous Four-directional fire-fighting robot has long been approaching. The creation of such equipment makes it possible to rescue people and property more quickly with less fire damage. As professionals, it is our responsibility to design and evaluate fire extinguishers and extinguishers. For this project we created a solar powered feature for uninterruptible power supply. Wireless controlled mobile robot. The robot can move around the building model, locate the fire, and then extinguish it using water spray. The development of autonomous firefighting robots is a long-standing need. Thanks to the development of this equipment, people and goods can be rescued quickly, with little fire damage. As experts, our job is to design and test fire detection and suppression systems. In this project, we developed a solar energy function for non-interruptive energy products. Wireless mobile robots. The robot can move within the building model, find the fire and extinguish it with the help of water spray

Spectrum Surveying: Active Radio Map Estimation With Autonomous UAVs

Radio maps find numerous applications in wireless communications and mobile robotics tasks, including resource allocation, interference coordination, and mission planning. Although numerous existing techniques construct radio maps from spatially distributed measurements, the locations of such measurements are predetermined beforehand. In contrast, this paper proposes spectrum surveying, where a mobile robot such as an unmanned aerial vehicle (UAV) collects measurements at a set of locations that are actively selected to obtain high-quality map estimates in a short surveying time. This is performed in two steps. First, two novel algorithms, a model-based online Bayesian estimator and a data-driven deep learning algorithm, are devised for updating a map estimate and an uncertainty metric that indicates the informativeness of measurements at each possible location. These algorithms offer complementary benefits and feature constant complexity per measurement. Second, the uncertainty metric is used to plan the trajectory of the UAV to gather measurements at the most informative locations. To overcome the combinatorial complexity of this problem, a dynamic programming approach is proposed to obtain lists of waypoints through areas of large uncertainty in linear time. Numerical experiments conducted on a realistic dataset confirm that the proposed scheme constructs accurate radio maps quickly.

Smart Farming System Based on Intelligent Internet of Things and Predictive Analytics

The Internet of Things (IoT) makes it conceivable to communicate among distinctive things. The use of IoT in the farming industry is critical for increasing utility. Smart agricultural practices may boost crop yield while also creating more output with the same amount of input. The majority of farmers, however, are still unaware of the most recent technologies and procedures. In this study, a revolutionary wireless mobile robot based on the Internet of Things (IoT) is created and installed to perform a variety of outdoor tasks. The benefits of this work include more accurate and efficient data, as well as a reduction in manpower. This research has applications in agriculture, arrival, and water division. Keen agrarian frameworks have been built up in different parts of the world utilising the Internet of Things (IoT) and remote sensor systems. One of the branches that springs to intellect in this respect is exactness cultivating. Numerous analysts have made checking and robotization frameworks for different cultivating capacities. Information collection and transmission between IoT gadgets set in ranches will be basic utilising WSN. The Kalman Filter (KF) is used with expectation investigation within the proposed method to get high-quality information free of commotion and exchange it with cluster-based WSNs. The quality of information utilised for examination is progressed as a result of this strategy, and information transport overhead within the wireless sensor network application is decreased. A decision tree is used for forecast analytics decision making for trim surrender expectation, trim classification, soil classification, climate expectation, and trim malady expectation. IoT components integrated with IoT cloud are coordinates in proposed framework to supply keen arrangement for edit development observing to clients.

Indirect/Direct Learning Coverage Control for Wireless Sensor and Mobile Robot Networks

This article proposes indirect/direct learning control schemes for wireless sensor and mobile robot networks to cover an environment according to the density function, which is the distribution of an important quantity within the environment. When stationary sensors cooperate with mobile robots, the density estimation can be enhanced by using nonstationary basis functions to relax the assumption of matching conditions in the previous approach. To improve the density function estimation, this study employs an expectation–maximization algorithm and log-likelihood, which maximizes the similarity between the proposed normalized density and normalized coverage function. Subsequently, the adaptive weighting algorithm is combined with the proposed indirect coverage control for tunable basis centers and the weighting of the basis functions. For direct coverage control, mobile robots are driven to cover the regions of higher importance while simultaneously estimating the density function utilizing a sensory model function. We prove that the Lloyd algorithm is a special case of the direct method when the density function and Voronoi partitions are available. The efficiency of the proposed methods is confirmed in numerical examples and semiexperiments.

Wireless Multiple Access Network With a Sectional Configured Data Collection System and Codeword Filtering Mechanism

Swarm robotics is an approach to collective robotics with which it is easily possible to complete the tasks that are difficult to do with single robot. The wireless multiple access network contributes significantly in wireless mobile swarm robotics for communication and networking, especially in disaster scenarios. Since the unpredictable impacts may fail the sensing robots or nodes, causing the loss of valuable data, a coding scheme called the Growth codes is designed to increase data persistence. In the wireless multiple access network, a key requirement of data collection in disaster scenarios is to maintain a high data intermediate recovery rate. In the later period of the Growth codes, the large amount of redundant data in the network affects the efficiency of data collection. In this paper, we design and analyze techniques to reduce the number of redundant data, and propose a sectional configured data collection strategy based on the Growth codes, called the SCGC protocol. Setting cache nodes around the sink to filter the redundant codewords, the sink can collect data faster, ensuring a high data intermediate recovery rate. We also design an information update strategy and some constraints to control node overhead. Through the simulations, we show that the proportion of redundant codewords can be reduced by 10-15%, while the negative impact of these valid codewords is not considered in the Growth codes. We also show that the SCGC protocol can improve the data recovery efficiency without affecting the stability of the network or shortening the network lifetime.

Two Mathematical Programming-Based Approaches for Wireless Mobile Robot Deployment in Disaster Environments

This paper addresses the issue of the wireless mobile robot deployment for the ad hoc network establishment in disaster environments, which aims to maximize the important locations covered by the established ad hoc network so as to improve the performance of task allocation. In many disaster environments, the number of wireless mobile robots usually is much less than the number of important locations in the environment so that maximizing the important locations covered by the established ad hoc network is the primary objective of wireless mobile robot deployment approaches. To maximize the coverage of important locations, most of the current approaches were developed based on greedy algorithms. Due to the myopia of greedy algorithms, these approaches can only maximize the coverage of important locations of each wireless mobile robot rather than the whole network. To this end, two mathematical programming-based wireless mobile robot deployment approaches are proposed for ad hoc network establishment in disaster environments. The proposed approach can create suitable deployment locations for all wireless mobile robots in a disaster environment. The experimental results demonstrate that ad hoc networks established by the proposed approaches can cover more important locations in a disaster environment than those established by greedy algorithm-based approaches.

An Innovative Approach for Ad Hoc Network Establishment in Disaster Environments by the Deployment of Wireless Mobile Agents

In disasters, many stationary tasks, such as saving survivors in debris, extinguishing fire of buildings, and so on, need first responders to complete on site. In such circumstances, wireless mobile robots are usually employed to search for tasks and establish ad hoc networks to assist first responders. Due to the unknown and complexity of environments and limited capabilities of wireless mobile robots, searching and establishing ad hoc networks in disaster environments is a challenging issue in both theory and practice. To this end, a task-based wireless mobile robot deployment approach is proposed in this article. The proposed approach consists of a search process and a deployment process. The search process can guide wireless mobile robots to efficiently find tasks in unknown and complex environments. The deployment process can find suitable deployment locations for wireless mobile robots to establish ad hoc networks. The established ad hoc networks can ensure the communication of wireless mobile robots in the network and can cover the maximum number of task locations and the maximum areas in a disaster environment. Experimental results demonstrate that based on the proposed approach, wireless mobile robots have better performance in terms of search and ad hoc network establishment in disaster environments.

Proposal of Packet Format in Wireless Mobile Robot Tele-Operation using ZigBee Network as Reserve Communication Infrastructure

Proposal of Packet Format in Wireless Mobile Robot Tele-Operation using ZigBee Network as Reserve Communication Infrastructure

A Study of Wireless Mobile Robot Tele-Operation Method Using ZigBee Networks as Reserve Communication Infrastructure

A Study of Wireless Mobile Robot Tele-Operation Method Using ZigBee Networks as Reserve Communication Infrastructure

A new three-dimensional chaotic system with a hidden attractor, circuit design and application in wireless mobile robot

AbstractThis research work proposes a new three-dimensional chaotic system with a hidden attractor. The proposed chaotic system consists of only two quadratic nonlinearities and the system possesses no critical points. The phase portraits and basic qualitative properties of the new chaotic system such as Lyapunov exponents and Lyapunov dimension have been described in detail. Finally, we give some engineering applications of the new chaotic system like circuit simulation and control of wireless mobile robot.

Integrating iRobot-Arduino-Kinect Systems: An Educational Voice and Keyboard Operated Wireless Mobile Robot

This paper presents use of iRobot Create Programmable Robot for real time wireless controlling via speech and keyboard commands in a domestic environment. Commercial hardware such as iRobot create 2 programmable robot, Kinect V2, Arduino Uno and NRF24L01 radio frequency module were used, based on open-source code in the implementation. At the receiver end iRobot programmable robot was used as the mobile robot. At the transmission end, a PC based system was used. The keyboard controlling system is designed to control the directions of the moving robot. In the voice controlling unit, voice commands were recognized using the inbuilt speech recognition engine of the Kinect sensor. We provide comprehensive analysis of the performance of the developed robot system in an indoor environment. The results show that 89% of accuracy for untrained non-native (Sri Lankan) English speakers in British accent.

Cyber-physical systems clouds: A survey

Cyber-Physical Systems (CPSs) represent systems where computations are tightly coupled with the physical world, meaning that physical data is the core component that drives computation. Industrial automation systems, wireless sensor networks, mobile robots and vehicular networks are just a sample of cyber-physical systems. Typically, CPSs have limited computation and storage capabilities due to their tiny size and being embedded into larger systems. With the emergence of cloud computing and the Internet-of-Things (IoT), there are several new opportunities for these CPSs to extend their capabilities by taking advantage of the cloud resources in different ways. In this survey paper, we present an overview of research efforts on the integration of cyber-physical systems with cloud computing and categorize them into three areas: (1) remote brain, (2) big data manipulation, (3) and virtualization. In particular, we focus on three major CPSs namely mobile robots, wireless sensor networks and vehicular networks.

Throughput Measurement Method Using Command Packets for Mobile Robot Teleoperation Via a Wireless Sensor Network

We are working to develop an information gathering system comprising a mobile robot and a wireless sensor network (WSN) for use in post-disaster underground environments. In the proposed system, a mobile robot carries wireless sensor nodes and deploys them to construct a WSN in the environment, thus providing a wireless communication infrastructure for mobile robot teleoperation. An operator then controls the mobile robot remotely while monitoring end-to-end communication quality with the mobile robot. Measurement of communication quality on wireless LANs has been widely studied. However, a throughput measurement method has not been developed for assessing the usability of wireless mobile robot teleoperation. In particular, a measurement method is needed that can handle mobile robots as they move around an unknown environment. Accordingly, in this paper, we propose a method for measuring throughput as a measure of communication quality in a WSN for wireless teleoperation of mobile robots. The feasibility of the proposed method was evaluated and verified in in practical field test where an operator remotely controlled mobile robots using a WSN.

QoS Challenges in Wireless Sensor Networked Robotics

Wireless sensor networks and mobile robotics are two hot research topics. Integrating them leads to a wide range of new applications in many different environments such as terrestrial, underwater, underground and aerial. Where sensor networks are mainly used for large-scale monitoring and control, mobile robotics are used for performing fine-scale actions and automation. Network heterogeneity together with stringent Quality of Service (QoS) demands from applications such as voice and video make QoS support very challenging. Therefore, this paper investigates the QoS challenges in wireless sensor networked robotics and presents a novel QoS framework as solution to cope with these challenges.

Study on Navigation of Wireless Sensor Network Mobile Robot

For optimal design of mobile robot path planning problem, an improved artificial potential field control method is designed. Using infrared sensors and ultrasonic sensors to detect the surrounding environment will get the information of obstacles and goals. Proposed an adaptive real-time localization algorithm based on improved DV-Hop algorithm to realize real-time localization for wireless sensor network mobile robot. The improved artificial potential field adopted the improved potential function that ensured the goal is the global minimum so the mobile robot can reach the goal freely. The effectiveness and feasibility of the improved algorithm verified by simulation.

Wireless Mobile Robotic Arm

In recent year, with the increase usage of wireless application, the demand for a system that could easily connect devices for transfer of data over a long distance - without cables, grew stronger. This paper presents the development of a wireless mobile robot arm. A mobile robot that functional to do pick and place operation and be controlled by using wireless PS2 controller. It can move forward, reverse, turn right and left for a specific distance according to the controller specification. The development of this robot is based on Arduino Mega platform that will be interfaced with the wireless controller to the mobile robotic arm. Analysis such as speed, distance, load that can be lifted of the robot has been done in order to know its performance. Finally, this prototype of the robot is expected to overcome the problem such as placing or picking object that far away from the user, pick and place hazardous object in the fastest and easiest way.

Biconnecting a network of mobile robots using virtual angular forces

This paper proposes a new solution to the problem of self-deploying a network of wireless mobile robots with simultaneous consideration to several criteria, that are, the fault-tolerance (biconnectivity) of the resulting network, its coverage, its diameter, and the quantity of movement required to complete the deployment. These criteria have already been addressed individually in previous works, but we propose here an elegant solution to address all of them at once. Our approach is based on combining two complementary sets of virtual forces: spring forces, whose properties are well known to provide optimal coverage at reasonable movement cost, and angular forces, a new type of force proposed here whose effect is to rotate two angularly consecutive neighbors of a node toward one another when the corresponding angle is larger than 60° (even if these two nodes are not themselves neighbors). Angular forces have the global effect of biconnecting the network and reducing its diameter, while not affecting the benefits obtained by spring forces on coverage. In this paper we give a detailed description of both types of forces, whose combination poses a number of technical challenges. We also provide an implementation that relies only on position exchanges within two hops. Extensive simulations are finally presented to evaluate the solution against all criteria (coverage, biconnectivity, quantity of movements, and diameter), and show its advantages over prior solutions.

Self‐stabilizing flocking of a group of mobile robots with memory corruption

AbstractThe rapid development of wireless technology plays extremely important roles in monitoring, control, and collaboration related applications. This paper aims at state‐of‐the‐art self‐stabilizing flocking control of wireless mobile robots with memory corruption.Flocking of a group of wireless mobile robots has gained a lot of attention due to its wide applications in recent years. While there are few works addressed on fault tolerance issue of flocking, especially for transient failure of robots. However, in the practical applications of robots, for the weak robots, some of their parts, like sensor, moving actuator, or memory etc., are prone to be crashed due to the complex environment. So, it is interesting to explore such kind of component crash or corruption (partly crash), especially for transient failure. The transient failure means the failure is temporary and after a while the robots will not be influenced by outside environment. Specially, in this paper, we mainly focus on how one kind of transient failure—memory corruption affects robot flocking, especially for the existed fault tolerant flocking. Copyright © 2009 John Wiley & Sons, Ltd.

효율적인 전처리와 개선된 하프변환을 이용한 무선 이동로봇 영상에서 직선검출

본 논문은 무선 이동로봇의 영상에서 빠르고 정확하게 직선을 검출하는 방법에 대한 연구이다. 직선검출 처리시간 향상을 위하여 무선 이동로봇으로부터 전송 받은 영상의 특성을 분석하고 기존의 전처리 방법들 중 효율적인 전처리 방법을 선택하였다. 그리고 직선검출 정확도 향상을 위하여 하프변환의 결과를 저장하는 하프배열에서 지역 최대값을 선택하는 방법을 마스크를 설계하고 하프배열에 적용하여 개선하였다. 무선 이동로봇으로부터 획득한 실험영상을 가지고 실험을 실시하였고 제안방법은 처리시간과 직선검출에 있어 기존 방법들에 비해 좋은 성능을 보였다. This paper presents a research on the fast and accurate method of line detection in the image of a wireless mobile robot (WMR). For the improvement of the processing time to detect lines, the characteristics of the transmitted image from the WMR was analyzed, and the efficient preprocessing method among the existing preprocessing methods was selected. And for the improvement of the accuracy to detect lines, the selection method of local maximum value at the Hough array (HA) which has the result of Hough transform was improved by designing a mask and applying it to HA. The experiment was performed with acquired images from the WMR, and the proposed method outperformed the existing methods in terms of processing time and line detection.

CSMA/CD-R for a Wireless Multi-robot Commuication

This paper proposes a CSMA/CD-R (Carrier Sense Multiple Access/Collision Detection with Reservation) protocol, designed for wireless network mobile robots under a distributed robot system without any centralized mechanism. It employs stations to reserve a communication channel after communication collision for the wireless communication of the distributed robot system. The effectiveness and applicability of the proposed protocol are demonstrated by carrying out computer simulations and real experiments with the develped multi-robot system.