Abstract: In this contribution a structure for high level lateral vehicle tracking control based on the disturbance observer is presented. The structure is characterized by stationary compensating side forces disturbances and guaranteeing a cooperative behavior at the same time. Driver inputs are not compensated by the disturbance observer. Moreover the structure is especially useful as it robustly stabilizes the vehicle. Therefore the parameters are selected using the Parameter Space Approach. The implemented algorithms are tested in real world scenarios.
Abstract: Applications of the Hausdorff space and its mappings
into tangent spaces are outlined, including their fractal dimensions
and self-similarities. The paper details this theory set up and further
describes virtualizations and atomization of manufacturing processes.
It demonstrates novel concurrency principles that will guide
manufacturing processes and resources configurations. Moreover,
varying levels of details may be produced by up folding and breaking
down of newly introduced generic models. This choice of layered
generic models for units and systems aspects along specific aspects
allows research work in parallel to other disciplines with the same
focus on all levels of detail. More credit and easier access are granted
to outside disciplines for enriching manufacturing grounds. Specific
mappings and the layers give hints for chances for interdisciplinary
outcomes and may highlight more details for interoperability
standards, as already worked on the international level. The new rules
are described, which require additional properties concerning all
involved entities for defining distributed decision cycles, again on the
base of self-similarity. All properties are further detailed and assigned
to a maturity scale, eventually displaying the smartness maturity of a
total shopfloor or a factory. The paper contributes to the intensive
ongoing discussion in the field of intelligent distributed
manufacturing and promotes solid concepts for implementations of
Cyber Physical Systems and the Internet of Things into
manufacturing industry, like industry 4.0, as discussed in German-speaking
countries.
Abstract: Robotics brings together several very different
engineering areas and skills. There are various types of robot such as
humanoid robot, mobile robots, remotely operated vehicles, modern
autonomous robots etc. This survey paper advocates the operation of a
robotic car (remotely operated vehicle) that is controlled by a mobile
phone (communicate on a large scale over a large distance even from
different cities). The person makes a call to the mobile phone placed
in the car. In the case of a call, if any one of the button is pressed, a
tone equivalent to the button pressed is heard at the other end of the
call. This tone is known as DTMF (Dual Tone Multiple Frequency).
The car recognizes this DTMF tone with the help of the phone stacked
in the car. The received tone is processed by the Arduino
microcontroller. The microcontroller is programmed to acquire a
decision for any given input and outputs its decision to motor drivers
in order to drive the motors in the forward direction or backward
direction or left or right direction. The mobile phone that makes a call
to cell phone stacked in the car act as a remote.
Abstract: This paper addresses the issue of the autonomous
mobile robot (AMR) navigation task based on the hybrid control
modes. The novel hybrid control mode, based on multi-sensors
information by using the fuzzy approach, has been presented in this
research. The system operates in real time, is robust, enables the robot
to operate with imprecise knowledge, and takes into account the
physical limitations of the environment in which the robot moves,
obtaining satisfactory responses for a large number of different
situations. An experiment is simulated and carried out with a pioneer
mobile robot. From the experimental results, the effectiveness and
usefulness of the proposed AMR obstacle avoidance and navigation
scheme are confirmed. The experimental results show the feasibility,
and the control system has improved the navigation accuracy. The
implementation of the controller is robust, has a low execution time,
and allows an easy design and tuning of the fuzzy knowledge base.
Abstract: In this paper a real-time obstacle avoidance approach
for both autonomous and non-autonomous dynamical systems (DS) is
presented. In this approach the original dynamics of the controller
which allow us to determine safety margin can be modulated.
Different common types of DS increase the robot’s reactiveness in
the face of uncertainty in the localization of the obstacle especially
when robot moves very fast in changeable complex environments.
The method is validated by simulation and influence of different
autonomous and non-autonomous DS such as important
characteristics of limit cycles and unstable DS. Furthermore, the
position of different obstacles in complex environment is explained.
Finally, the verification of avoidance trajectories is described through
different parameters such as safety factor.
Abstract: The objective of this research is to design and
construct the PV-Wind hybrid autonomous system for the greenhouse
plantation, and analyze the technical performance of the PV-Wind
energy system. This design depends on the water consumption in the
greenhouse by using 24 of the fogging mist each with the capability
of 24 liter/min. The operating time is 4 times per day, each round for
15 min. The fogging system is being driven by water pump with AC
motor rating 0.5 hp. The load energy consumed is around 1.125
kWh/d. The designing results of the PV-Wind hybrid energy system
is that sufficient energy could be generated by this system. The
results of this study can be applied as a technical data reference for
other areas in the central part of Thailand.
Abstract: An exploration of the related literature reveals that all
instruction methods aim at training autonomous learners. After the
turn of second language pedagogy toward learner-oriented strategies,
learners’ needs were more focused. Yet; the historical, social and
political aspects of learning were still neglected. The present study
investigates the notion of autonomous learning and explains its
various facets from a pedagogical point of view. Furthermore;
different elements, fields and scopes of autonomous learning will be
explored. After exploring different aspects of autonomy, it is
postulated that liberatory autonomy is highlighted since it not only
covers social autonomy but also reveals learners’ capabilities and
human potentials. It is also recommended that learners consider
different elements of autonomy such as motivation, knowledge,
confidence, and skills.
Abstract: Now-a-days autonomous mobile robots have found
applications in diverse fields. An autonomous robot system must be
able to behave in an intelligent manner to deal with complex and
changing environment. This work proposes the performance of path
planning and navigation of autonomous mobile robot using
Gravitational Search Algorithm (GSA), Simulated Annealing (SA)
and Particle Swarm optimization (PSO) based intelligent controllers
in an unstructured environment. The approach not only finds a valid
collision free path but also optimal one. The main aim of the work is
to minimize the length of the path and duration of travel from a
starting point to a target while moving in an unknown environment
with obstacles without collision. Finally, a comparison is made
between the three controllers, it is found that the path length and time
duration made by the robot using GSA is better than SA and PSO
based controllers for the same work.
Abstract: Weed suppression and weeding are necessary measures
for rice cultivation. Weed suppression precedes the process of
weeding. It means suppressing the growth of young weeds and
creating a weed-less environment. If we suppress the growth of weeds,
we can reduce the number of weeds in a paddy field. This would result
in a reduction of the weeding work load.
In this paper, we will show how we developed a weed suppression
robot for the purpose of reducing the weeding work load. The robot
has a laser range finder for autonomous mobility and a robot arm for
weed suppression. It travels along the rice rows without stepping on
and injuring the rice plants in a paddy field. The robot arm applies
force to the weed seedlings and thereby suppresses the growth of
weeds. This paper will explain the methodology of the autonomous
mobile, the experiment in weed suppression, and the method of
controlling the robot’s posture on uneven ground.
Abstract: This article describes the information system for
measuring and evaluating the dose rate in the environment of nuclear
power plants Mochovce and Bohunice in Slovakia.
The article presents the results achieved in the implementation of
the EU project – Research of monitoring and evaluation of nonstandard
conditions in the area of nuclear power plants. The
objectives included improving the system of acquisition, measuring
and evaluating data with mobile and autonomous units applying new
knowledge from research.
The article provides basic and specific features of the system and
compared to the previous version of the system, also new functions.
Abstract: This study is an attempt to raise the awareness of the
stakeholders and the authorities on the sensitivity of Algerian
secondary school teachers of English as a Foreign Language about
the students’ loss of English language skills learned during formal
schooling with effort and at expense and the supposed measures to
arrest that loss. Data was collected from secondary school teachers of
EFL and analyzed quantitatively using a questionnaire containing
open-ended and close-ended questions. The results advocate a
consensus about the need for actions to be adopted to make
assessment techniques outcome-oriented. Most of the participants
were in favor of including curricular activities involving
contextualized learning, problem-solving learning critical selfawareness,
self and peer-assisted learning, use of computers and
internet so as to make learners autonomous.
Abstract: An anthropometric study applied to 1,115 students of
the Faculty of Chemical Sciences and Engineering of the
Autonomous University of California. Thirteen individual
measurements were taken in a sitting position. The results obtained
allow forming a reliable anthropometric database for statistical
studies and analysis and inferences of specific distributions, so the
opinion of experts in occupational medicine recommendations may
emit to reduce risks resulting in an alteration of the vital signs during
the execution of their school activities. Another use of these analyses
is to use them as a reliable reference for future deeper research, to the
design of spaces, tools, utensils, workstations, with anthropometric
dimensions and ergonomic characteristics suitable to use.
Abstract: In this paper, we propose a multi-agent intelligent
system that is used for monitoring the health conditions of elderly
people. Monitoring the health condition of elderly people is a
complex problem that involves different medical units and requires
continuous monitoring. Such expert system is highly needed in rural
areas because of inadequate number of available specialized
physicians or nurses. Such monitoring must have autonomous
interactions between these medical units in order to be effective. A
multi-agent system is formed by a community of agents that
exchange information and proactively help one another to achieve the
goal of elderly monitoring. The agents in the developed system are
equipped with intelligent decision maker that arms them with the
rule-based reasoning capability that can assist the physicians in
making decisions regarding the medical condition of elderly people.
Abstract: Assistive robotics are playing a vital role in advancing the quality of life for disable people. There exist wide range of systems that can control and guide autonomous mobile robots. The objective of the control system is to guide an autonomous mobile robot using the movement of eyes by means of EOG signal. The EOG signal is acquired using Ag/AgCl electrodes and this signal is processed by a microcontroller unit to calculate the eye gaze direction. Then according to the guidance control strategy, the control commands of the wheelchair are sent. The classification of different eye movements allows us to generate simple code for controlling the wheelchair. This work was aimed towards developing a usable and low-cost assistive robotic wheel chair system for disabled people. To live more independent life, the system can be used by the handicapped people especially those with only eye-motor coordination.
Abstract: Localization of mobile robots are important tasks for
developing autonomous mobile robots. This paper proposes a method
to estimate positions of a mobile robot using a omnidirectional
camera on the robot. Landmarks for points of references are set
up on a field where the robot works. The omnidirectional camera
which can obtain 360 [deg] around images takes photographs of
these landmarks. The positions of the robots are estimated from
directions of these landmarks that are extracted from the images
by image processing. This method can obtain the robot positions
without accumulative position errors. Accuracy of the estimated
robot positions by the proposed method are evaluated through some
experiments. The results show that it can obtain the positions with
small standard deviations. Therefore the method has possibilities of
more accurate localization by tuning of appropriate offset parameters.
Abstract: The paper presents actual benefits and drawbacks of a multidirectional autonomous hovercraft conceived with limited resources and designed for indoor exploration. Recent developments in the field have led to the apparition of very powerful automotive systems capable of very high calculation and exploration in complex unknown environments. They usually propose very complex algorithms, high precision/cost sensors and sometimes have heavy calculation consumption with complex data fusion. These systems are usually powerful but have a certain price, and the benefits may not be worth the cost, especially considering their hardware limitations and their power consumption. The present approach is to build a compromise between cost, power consumption and results preciseness.
Abstract: This article deals with the possibility of increasing efficiency, reliability and safety of the system for teledosimetric data collection management and their evaluation as a part of complex study for activity “Research of data collection, their measurement and evaluation with mobile and autonomous units” within project “Research of monitoring and evaluation of non-standard conditions in the area of nuclear power plants”. Possible weaknesses in existing system are identified. A study of available cluster solutions with possibility of their deploying to analysed system is presented
Abstract: We propose obstacle classification method based on 2D
LIDAR Database. The existing obstacle classification method based
on 2D LIDAR, has an advantage in terms of accuracy and shorter
calculation time. However, it was difficult to classifier the type of
obstacle and therefore accurate path planning was not possible. In
order to overcome this problem, a method of classifying obstacle type
based on width data of obstacle was proposed. However, width data
was not sufficient to improve accuracy. In this paper, database was
established by width and intensity data; the first classification was
processed by the width data; the second classification was processed
by the intensity data; classification was processed by comparing to
database; result of obstacle classification was determined by finding
the one with highest similarity values. An experiment using an actual
autonomous vehicle under real environment shows that calculation
time declined in comparison to 3D LIDAR and it was possible to
classify obstacle using single 2D LIDAR.
Abstract: Economic growth always correlate positively with the
magnitude of the unemployment rate. This is caused by labor which
one of important variable to keep growth in the real sector of the
region. Meanwhile, the economic structure in districts of Jember
showed an increase of economic activity began to shift towards the
industrial sector and some other economic sectors, so they have an
affects to considerations for policy makers to increase economic
growth in Jember as an autonomous region in East Java Province. At
the fact, SMEs is among the factors driving economic growth in the
region. This is shown by the high amount of SMEs. However,
employment in the sector grew slightly slowed. It is caused by a lack
of productivity in SMEs. Through the analysis of the transformation of
economic structure theory, and the theory of Triple Helix using
descriptive analytical method Location Quotient and Shift - Share,
found that the results of the economic structure in Jember slowly
shifting from the agricultural sector to the industrial sector, because it
is dominated by trade sector, hotel and restaurant sector. In addition,
SMEs is the potential sector of economic growth in Jember. While to
maximizing role and functions of the institution's Research and
Development Center of SMEs, there are three points to be known, that
are Business Landscape, Business Architecture and Value Added.
Abstract: Autonomous mobile robots can be found in a wide
field of applications. Their types range from household robots over
workshop robots to autonomous cars and many more. All of them
undergo a number of testing steps during development, production
and maintenance. This paper describes an approach to improve
testing of robot behavior. It was inspired by the RoboCup @work
competition that itself reflects a robotics benchmark for industrial
robotics. There, scaled down versions of mobile industrial robots
have to navigate through a workshop-like environment or operation
area and have to perform tasks of manipulating and transporting
work pieces. This paper will introduce an approach of automated
vision-based testing of the behavior of the so called youBot robot,
which is the most widely used robot platform in the RoboCup
@work competition. The proposed system allows automated testing
of multiple tries of the robot to perform a specific missions and
it allows for the flexibility of the robot, e.g. selecting different
paths between two tasks within a mission. The approach is based
on a multi-camera setup using, off the shelf cameras and optical
markers. It has been applied for test-driven development (TDD) and
maintenance-like verification of the robot behavior and performance.