Solid State Phenomena Vol. 198

Abstract: This paper presents the modeling problem connected with the autonomous transport vehicle designed at Hochschule Ravensburg-Weingarten. The forward and inverse kinematics problem of eight-wheeled autonomous transport vehicle have been formulated and solved, additionally examples of simulation results representing the changes of individual motion parameters have been presented. Contact phenomenon between foundation and drive wheel has been taken into account in the kinematics model. Motion trajectory and velocity of the selected point belonging to the platform have been intended while the inverse kinematics problem has been solved. The forward kinematics problem has been worked out in order to verify correctness of the studied kinematics model. The presented simulation results point out compatibility of the worked out kinematics model of investigated object. The worked out models allow carrying out analysis of object motion through simulation investigations on the basis of proposed computational model.

Abstract: In the paper the behavior based control system of an autonomous mobile robot SCORPION is presented to execute the one of the most difficult navigation task, which is the complete coverage task of unknown area with static obstacles in the environment. The main principle assumed to design control system was that the robot should cover all area only once, if it possible, to optimize the length of path and energy consumption. All commercial robots like Roomba, Trilobite or IVO move using structured templates combined with random movement. Therefore the path of coverage is not optimal directions of movement are often chosen randomly, so robot covers the same area many times wasting time and energy. In paper the five main developed templates of movement were described to fulfill main task in ordered manner using primarily the way of the ox template of coverage [1, 2, 5, 1. The behavioral control system is implemented in a computer application written in Python [5]. In the paper the test methodology of the developed system on real mobile robot ERSP SCORPION equipped with IR sensors is presented. Graphical and quantitative results of tests of accomplishment of complete coverage task are given for 6 different configurations of obstacles in the robots environment. Conclusions are presented and discussed [5]. Ways to improve the quality indicators [1, of the task of complete coverage of a unknown area are also showed.

Abstract: The article deals with the proposal structure of undercarriages mobile robot GTR 2010 control. Functional model of the undercarriages mobile robot GTR2010 should be able to carry out active tracking of desired path for achieving a goal and get over obstacles in unstructured environments.

Abstract: A long-distance performance is a significant parameter for mobile platforms. A key condition is a highly efficient source of energy. Fuel cells, i.e. electrochemical devices, capable of direct conversion of chemical energy accumulated in fuel into electrical energy, occurred to be relevant. In this paper there were presented the results of the analysis pertaining to the volumetric requirements of the system exploiting the fuel cell that is capable of ensuring the running time comparable with that of conventionally used rechargeable batteries.

Abstract: Current tendency in mechatronic design requires the use of comprehensive development of an environment, which gives the possibility to prototype, design, simulate and integrate with dedicated hardware. The paper discusses the Hardware-In-the-Loop Simulations (HILS) mechatronic technique [, used during the design of the surveillance system based on energy performance index [. The presented test configuration (physical controller emulated virtual research object) allows authors to verify responses (in the LabVIEW [) of the mobile platform model, to the optimal control commands (torques), generated by the Real Time controller. Defined energy performance index, supported by the correction velocities, controls the emulated platform while moving along three different trajectories. The demonstrated test results are compared with desired values obtained during numerical computation process of kinematic and dynamic equations of the presented model. The authors investigation of the HILS affected final optimisation of the motion surveillance system design. Real time requirements enforced authors to decrease sampling time of control command (signal generation frequency) and establish high performance execution strategy for on-line algorithm (algorithm execution performed both in Real Time processor and in the FPGA - Field Programmable Gate Array) [. The performed simulations confirmed that the HILS is a powerful technique, which improves system design making that more efficient and low cost consuming.

Abstract: The purpose of this paper is to present the development and realization of the elaborate mechatronic systems, having its main application in the logistic industry. The innovative, patented steering system is its unique feature. The steerage is based on the torque difference between the drive wheels. This solution allows for the unlimited maneuverability during the motion of the vehicle.

Abstract: A systematic iterative dynamic programming procedure is proposed for on-line motion planning of mobile sensor network nodes in a specified spatial domain in such a way as to maximize the identification accuracy of an unknown contamination source. The design criterion is a general scalar measure defined on the Fisher information matrix associated with the estimated coordinates of the contamination source. The approach converts the problem to an optimal control one in which the control forces of the sensors are optimized using iterative dynamic programming.

Abstract: When mobile robots are used among people, the best accepted motion related behavior is a human-like motion of the robot. Such behavior is difficult to obtain with commonly used finite state machine based planners, but can easily be evoked when human controls the robot. The paper presents the way of transforming such knowledge from human controller to reactive planner in the robot navigation module. Reactive planner is based on machine learning, neural networks in particular. The planner consists of two separate neural networks, one serving as predictor of dynamic obstacles behavior, second one serving as the reactive planner itself, producing desirable actions of the robot both in terms of velocity and direction. Planner was verified on real robot producing human-like behavior when used in real environment.

Abstract: Finding a way through an unexplored environment belongs to actual problems in many artificial agent systems. Common algorithms as state-space searching or rapidly exploring random trees are used when the map of given environment is known. In this paper we present simulation experiments with multi agent system represented as artificial ant colony.

Abstract: The GMRI robot is capable of inspecting hazardous zones of methane and/or coal dust explosion in hard coal mines. The robot enables remote measurements of the concentrations of methane, carbon monoxide, carbon dioxide, oxygen, temperature, and humidity. Cameras enable the robot to observe the state of the excavation. All electronic circuits of the robot, for measurements, control, transmission, and supply, are intrinsically safe. The transmission of data and control commands from/to the operators console are performed via an electric wire. Moreover, the wire enables to transmit intrinsically safe electric energy and is used to charge one of the accumulators. Thanks to that, the robot can operate in an isolated excavation for 3 months. An intrinsically safe pneumatic drive has been applied for setting wheels in motion. The non-commercial robot prototype was tested in a real excavation in an active hard coal mine. The technical solutions have been presented in the paper.