Solid State Phenomena Vols. 147-149

Abstract: This paper presents the patented mechanical concept for steering and level control of a mobile robot equipped with four driving units and the methods that lead to the development of this mechatronic system. The mobile robot exhibits excellent maneuverability and considerable advantages when moving in difficult environments such as rough landscapes. The paper discusses a refined approach to develop mechatronic systems which is based on the well-known V-model. The refined approach allows a conscious planning and control of a mechatronic design process.

Abstract: Robotics is actually one of the most important technologies; which in the last year has been developing very fast. It’s interdisciplinary since combine mechanics, automatic, electric, and computer since. This paper presents generally the problems in navigation which should be solved by all who wants to build such educational and mobile robots [1, 3, 5, and 7]. For this reason the mechanical structure, module of communication, digital sonar and main board of autonomous and mobile robot for laboratory tasks has been described [2, 4]. After that the operation principle was given and some of the realized tests have been shown. A next possibility of development of the robot has been presented. Moreover the way, which satisfies the need of the large computational power on usually small platforms of mobile robots and the most advantageous sorts of the power supply from the point of view of the robot which realizes specify functions has been described. At the end of paper the conclusions has been extracted. Wide laboratory tests of the robot presented in this paper fully confirm all guideliness. In spite of fact that the device is very simple and very cheep, succesfully meet tasks in teaching, and enables students to meet fascinating subject of the mobile robots. Possibility of extension this subject can be continued during realization of other programs.

Abstract: In this paper, an integration of Honey bees mating algorithm (HBMA) and adaptive resonance theory neural network (ART1) for efficient path planning of a mobile robot in a static environment is presented. The robot must find shortest route from given origin to the target position. Moreover, it should be able to memorize the environment and, if it faces known world, execute already learned trajectory found by HBMA solver, or solve the world and memorize the trajectory for the given environment. This is done using Adaptive Resonance Theory based neural network. This way simulated robot is able to navigate through environment and to continuously increase its knowledge.

Abstract: In paper the methodology of complete coverage of unknown area by autonomous mobile robot is described. The main principles of complete coverage task using sensory data only are given. The shape of coverage area is defined. The modified "the way of the ox" algorithm is proposed to realize this task and its following stages are described. Definitions of two quality indicators of realization of complete coverage task are given. The behaviour based control methodology imitated reactions of animals, realized the robot's movement, is presented. The general structure of reactive and proactive behaviours is showed. The example structures of defined reactive and proactive beheaviours, which allow to achive given task, are described. The example structure of complex behaviour implemented in Matlab-Simulink environment is presented. Graphical results of simulations of complete coverage task are presented. Values of quality indicators D and E are given and discussed.

Abstract: We present in this paper several ideas about the usability of the robotic arms and mobile robots as an assistive technology in a smart house where people with disabilities daily live. First, psychological and social aspects of smart home technology are presented and after that the modularity and standardization processes are discussed. Next we propose a smart house plan, equipped with a mobile robot which has a manipulator arm. This robotic system is used to help vulnerable persons, the handicapped men vehicle seat being equipped with a robotic arm which can manipulate objects by a hyper-redundant gripper. For the control of the processes in the smart house, we propose a hierarchical control system and for the mobile robot we use the artificial potential field method. Also, this paper points out the edutainment concept (EDUcation and enterTAINMENT) by robotics. Finally, some applications are presented.

Abstract: In this paper the authors present the localization system which uses triangulation and trilateration to position mobile robot in the two-dimensional space. Distance was measured with the strength of radio signal emitted by devices of existing communication network, which were constructed by the authors. To get the actual distance in the function of radio signal strength the calibration curve, which was set empirically, made from the spline of linear functions was used. Research in this paper can be divided into two parts: the quality tests of communication and the localization using radio waves. Quantity measure of the correctly transmitted frames showed that the communication network works with the credibility of 80%, which is good result for the radio waves. Outcome of the localization quality showed that the position error did not surpass 1.7 m, which is a good result compared to the error of a typical GPS receiver is 15 m. Summing up, the localization system proposed by the authors is working well. Furthermore the test showed that triangulation and trilateration are universal methods of positioning and they can be used in other systems. Additionally the test indicated that the accuracy can by increased by using devices with a better signal strength measure.

Abstract: The key objective of the research, presented in this paper, is one of the integral parts of the intelligent home – smart domestic appliances. The principal aim is to propose a method for designing smart mechatronic appliances. Such systems assist the user and augment the quality of living through the integration of services and technology. An agent-component based approach is used to design a generic agent model, which serves as a common infrastructure for constructing smart appliance systems. Finally, an intelligent refrigerator is presented as a perspective of the proposed method application.

Abstract: In the work the new concept of polar positioning system, alternative for Cartesian one, is presented. The mathematical model which allows calculation of the rotation angle of polar positioning system is considered. The Cartesian coordinates of formed points of object structure, received after discretization process of object are the inputs data to calculation. Output data however are rotation angles i.e. both working arm and rotation table angles. The influence of the stiffness of mechanical parts on the precision of instrument positioning and productivity of the presented polar device is defined.

Abstract: This article describes a sub-millimeter micromotor, one of achievements of MEMS (microelectromechanical systems) science that is driven by electrostatic force. A simplified analytical dynamical model for microelectrostatic motor is presented. The model involves formulas for calculation of non-fringing electrostatic field forces for any rotor and stator pole combination, for any number of poles. Both tangent and normal forces are derived. The article shows how to increase torque created by tangential force and how to decrease friction created by normal component. The model is useful for development of motor control system and further motor analysis. The analytical model is quantitatively compared to finite element model (FEM) created using Ansys and Matlab software. By changing the number of poles in both models, the ripple of the motor torque is researched using both methods.

Abstract: Control theory proposes to apply observers in systems with uncertain plant parameters. Observers can be used for calculation of feedback gains and getting desired, even strictly determined response requirements. The paper considers design of controller for direct current drive. As state space variables are chosen armature current and angular speed of motor. Mathematical model of the motor, operating with load which is assumed as disturbance, is elaborated. Full order Luenberg observer is designed according to desired characteristic equation of system. The results of simulation are presented and discussed.