Papers by Keyword: Mobile Robot

Abstract: Company XYZ, a toy manufacturing company, is pursuing a 40% reduction in manual material handling labor by 2030 through the implementation of autonomous mobile robots (AMRs). This study applies an integrated Analytical Hierarchy Process (AHP) and Multi-Objective Optimization on the Basis of Ratio Analysis (MOORA) approach to select the optimal AMR, supported by discrete-event simulation modeling in FlexSim to validate designs prior to investment. A cost-benefit analysis, including Benefit-Cost Ratio (BCR), Internal Rate of Return (IRR), and Payback Period, demonstrates the economic feasibility of the proposed solution. Simulation results suggest a configuration of three AMRs to meet cycle-time targets with a projected labor cost reduction of 47%. This work contributes a validated methodology for robot selection, system design, and investment decision-making in manufacturing environments.

Abstract: This paper presents the development of a ladder climbing robot prototype. The development of the prototype includes constructing the basic software and hardware for the robot. The robot controller is designed using Arduino Mega 2560 software implemented in Arduino IDE with C programming. The hardware development involves constructing the main chassis and climbing arm with servomotor, DC geared motor and motor driver. An algorithm to climb ladder is developed with application of Infrared (IR) sensor and ultrasonic sensors. Significantly, the robot prototype is tested on ladders of different rung spacing. In the future, a base with wheels will be constructed for the robot to carry load and move on ground with obstacle avoidance capability and side grippers will be constructed to improve climbing performance of the robot on vertical ladder; this project will contribute to future research on similar topics.

Abstract: In the present world, mobile robot has been widely used for many functions across different areas of life. These mobile robots can be engaged in a static or dynamic environment where they are expected to accomplish a task optimally against all odds. Path planning for mobile robot is a very crucial problem in robotics that has been greatly researched upon; it is aimed at finding an optimal path in a given environment from a start point to the goal point. Several techniques have been employed in solving this crucial problem. These techniques are broadly classified as classical and heuristics. The Swarm Intelligence Techniques form a sub-class of the heuristics approach. The aim of this research is to review the swarm intelligence techniques in solving the mobile robot path planning problem. The drawbacks and merits of each of the techniques were discussed and a comparative analysis was given.

Abstract: The article concludes with a thorough evaluation of an usefulness of suspension systems and chassis of Mars Rovers from Bialystok University of Technology and predictions for future Mars rover solutions. A development of technology and ever growing aspirations of mankind resulted in clear progress in the field of Mars exploration rovers. Competitions, involving analogs of Mars rovers, are increasingly more popular among academic societies. The main goal of mentioned initiatives, is to test possible solutions which, over time, may be used in rovers during extraterrestrial missions. The authors focused on a path of a Mars rover analogue development. In the first stage authors analyzed requirements of the University Rover Challenge organized by The Mars Society. Then the article concerns tasks that every modern Mars rover faces during its mission. Next authors considered Mars Rovers analogs designed and built in Faculty of Mechanical Engineering at Bialystok University of Technology. After application’s considerations, authors focused on suspension systems analysis. A major part of the article is a thorough structural analysis of suspension and driving systems of analog Mars rovers build at Faculty of Mechanical Engineering, Bialystok University of Technology [1]. Then there is an comparison of the Curiosity (fig. 1) rover suspension [2] and internal frame with #next Mars Rover.

Abstract: In recent years, an intense development in the mobile devices such as smartphones, tablets or smartwatches can be noticed. Each of them is equipped with various peripherals [1,2], for example touch screen, GPS, Wi-Fi, accelerometer or Bluetooth module which give a lot of possibilities for engineering use. Control of an intelligent home, positioning clients at the shopping centers through beacons or translation of the speech in real time are just some of the practical uses of mobile technology. On the other hand, a noticeable growth in usage of mobile robots for specific tasks results in an increased demand for a dedicated controller that would enable an intuitive, convenient, and precise control of such devices. The document presents an unconventional way of differential control of the six-wheeled robot through an application on Android device using Bluetooth connectivity. This solution will be presented on an example of a #next Mars rover analogue [fig. 1]. The vehicle was built to participate in University Rover Challenge. This prestigious competition of Mars rovers occurs yearly in the United States on the Utah desert. Measured linear acceleration via the built-in smartphone accelerometer, allows to control the direction and speed of the drive motors and joints of manipulator. The author gives a solution to the most important problems in the presented control method such as correction of accelerometer error or a negative impact of temperature. It also provides solutions to accelerate the establishment of communication such as the inclusion of bluetooth while lunching application or resuming it automatically after incoming call when communication app works in the background. The solution is confronted with currently the most popular ways of mobile robots control.

Abstract: Presented paper focuses on design process of Soil Sample Retrieval System for simple on-board analysis of collected material and cashing it for further examination. System is created to be mounted on mobile robotic platforms to provide a tool suitable for sampling scientifically interesting sites in remote and even hazardous for human environments [1,2,4].Considered solution will be thoroughly tested during University Rover Challenge 2016 aiding #next team efforts to proof life existence in mock-up Mars surface setting located nearby Mars Desert Research Station, Hanksville Utah. This procedure is one of challenge’s task that proves scientific usefulness of a built rover. It requires collection of unaltered sub-surface soil sample, preliminary examination and cashing it on-board for further analysis.The device needs to be capable of collecting sub-surface soil samples, then transporting gathered material to cash and experiment containers also embedded onto platform [3]. It uses a drilling technique similar to one used to crush concrete and hard rocks.Powder created during sampling is further transported via system of tubes powered with vacuum. In order to create under pressure system was equipped with high-efficient turbine capable of producing up to 45 kg of suction force. This new approach has never been used before during such competition. We believe it will provide much needed advantage during this task over other competitors.The system allows an equal distribution of collected soil into designated containers. They are fitted out with desired scientific equipment. In considered exemplary model there are three containers. One being equipped with pH sensor, second-a humidity sensor and third one for cashing unaltered sample for further laboratory experimentations. It can also be equipped with additional sensors such as black light emitter with CCD sensor to determine cyanobacteria presence.The paper consists of three parts. First one focuses on problem analysis [2,3], system design and preliminary tests description. Second one describes device manufacturing and tests. Last part consists of results analysis with a critical validation of presented solution and recommendations for further development.

Abstract: This study presents controllers for trajectory tracking for the kinematic model of an Unmanned Ground Vehicle (UGV) subject to bounded inputs. The proposed controllers are based on smooth uniformly bounded functions that can easily be realized. Some results are demonstrated.

Abstract: The working environment of the inspection robot is a high altitude flexible cable environment. The robot navigating process must be stable and reliable. The robot mechanism grips the line though locomotion mechanism when navigating obstacles. The locomotion mechanism needs to have a strong clamping capacity and stability. According to the environmental characteristics of transmission lines, a novel locomotion mechanism of inspection robot is presented. The locomotion mechanism adopting differential mechanism can grip different diameter lines. The Tri-Step reducer design to ensure that the various model lines of rapid firmly clamped. The locomotion mechanism is introduced, and the gripper force is analyzed. The experiment results demonstrate that the mechanism has such characteristics as strong grip ability, good motion stability, and different diameter lines gripping capability.

Abstract: A hybrid self-localization system for indoor mobile robot is proposed which is used to get the pose (position and orientation) of the mobile robot within the ultrasonic mesh area while avoiding the drift caused by the odometry system of the robot. This localization system consist of three subsystem-odometry, IMU and ultrasonic mesh. The IMU system is fitted within the robot chassis. The ultrasonic mesh is made by fixing various ultrasonic trans-receivers along two lines parallel to the x-axis at known locations. The IMU system is used to get the heading of the robot and the ultrasonic mesh is used to get the position of the robot, however the odometry system gives both position and orientation of the robot. A simple error threshold based algorithm is used to select the best value of robot pose from the sub-systems.

Abstract: The conventional mobile robotic platforms which either uses wheels or legs are quite familiar and each one of them has its own advantages and disadvantages. The wheeled robot is suitable for only plain and smooth terrain, whereas the legged robot can travel in any kind of terrain but is comparatively slower than the wheeled robot. So, a hybrid of both wheeled and legged platform would be quite suitable for any kind of terrain. The primary focus of this paper is to design and develop a leg-wheel hybrid robotic platform with a concurrent engineering and mechatronics approach to produce results with optimised design metrics at each and every stage of its development. An overall view of the entire mechatronics system is considered for design and development of the robot at each and every stage rather than a sequential engineering approach. This paper details the Finite Element Analysis (FEA) of the C – Legs which are used in the robot.