{"title":"Vision-based Adaptive Cruise Control using pattern matching","authors":"Ritesh Kanjee, A. Bachoo, Johnson Carroll","doi":"10.1109/ROBOMECH.2013.6685498","DOIUrl":"https://doi.org/10.1109/ROBOMECH.2013.6685498","url":null,"abstract":"Adaptive Cruise Control (ACC) is a relatively new system designed to assist automobile drivers in maintaining a safe following distance. This paper proposes and validates a vision-based ACC system which uses a single camera to obtain the clearance distance between the preceding vehicle and the ACC vehicle. Pattern matching, with the aid of lane detection, is used for vehicle detection. The vehicle and range detection algorithms are validated using real-world data, and then the resulting system performance is shown to be sufficient using a simulation of a basic vehicle model.","PeriodicalId":143604,"journal":{"name":"2013 6th Robotics and Mechatronics Conference (RobMech)","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122901662","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Mine rescue robots requirements Outcomes from an industry workshop","authors":"Jeremy J. Green","doi":"10.1109/ROBOMECH.2013.6685501","DOIUrl":"https://doi.org/10.1109/ROBOMECH.2013.6685501","url":null,"abstract":"Mine rescue robotics is an area of research and development that has had some attention in the past, but has been bypassed in development by urban search and rescue, where the conditions could arguably be classified as less extreme. The safety situation in South African underground mines is such that work in rescue robotics can be justified. At a recent industry gathering, a workshop was convened to explore the applications where robotics could be of assistance in current operations, and then to determine the requirements specifications of the three most promising deployment scenarios. This paper records the outcome of that workshop session, and expands the outcomes in the context of existing research and development in South Africa and internationally. The paper identifies three definite robot deployments in South Africa as a) box hole deployment (vertical tunnels), b) flying drone reconnaissance and c) proto (rescue) team assistance. These represent applications where there is a market need, and defines the required capabilities for such robots. In some cases, the requirements would need research and development in order to meet the criteria, such as the flying drone reconnaissance. In others, the technology could be considered ready for implementation in a specifically designed machine, such as for proto team assistance. It is significant to note that there is no single robotic platform design that could meet all the application requirements identified, and it is likely that a suite of robots would be required to meet the variety of mining rescue robotic needs.","PeriodicalId":143604,"journal":{"name":"2013 6th Robotics and Mechatronics Conference (RobMech)","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127610235","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"The use of the Travelling Salesman Problem To optimise power line inspections","authors":"T. Moyo, Francois du Plessis","doi":"10.1109/ROBOMECH.2013.6685499","DOIUrl":"https://doi.org/10.1109/ROBOMECH.2013.6685499","url":null,"abstract":"Frequent inspections of power lines and the associated components is required to ensure quality supply of electricity. Current power line inspection methods such as manned helicopters and ground surveillance crews are expensive and the use of Unmanned Aerial Vehicles (UAVs) has been presented as a cost effective alternative. This paper presents research into the development of a method to optimise the inspection of power lines and associated components using a rotary UAV. The proposed inspection path optimisation is based on the Travelling Salesman Problem (TSP). In defining this problem as a TSP, waypoints are chosen based on their position relative to pylon components that require inspections. These waypoints are then used as cities in the classic TSP which is solved using a Genetic Algorithm. The cities are used in a MATLAB model that has a scaled pylon. The results obtained in simulation show that there is a potential for using the proposed combination of GA and TSP to enable optimal inspections","PeriodicalId":143604,"journal":{"name":"2013 6th Robotics and Mechatronics Conference (RobMech)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116576847","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Implementation of an autonomous underground localization system","authors":"Khonzi Hlophe, Francois du Plessis","doi":"10.1109/ROBOMECH.2013.6685497","DOIUrl":"https://doi.org/10.1109/ROBOMECH.2013.6685497","url":null,"abstract":"This paper discusses the design and implementation of an inertial navigation system for underground mines. The navigation system consists of an inertial measurement unit (IMU) and an artificial beacon positioning system (ABPS). The navigation system is capable of providing continuous estimates of an object's position. The main contribution of this work is the use of an off-the-shelf IMU sensor along with an ABPS in the implementation. The challenge with low cost IMU is the diminished performance which is the main reason for the inclusion of the ABPS. The IMU is used to interpolate between the ABPS positions. All the relevant equations regarding the navigation system are also presented in this discussion. Results are presented to show the merit of the work and highlight various aspects of the navigation system.","PeriodicalId":143604,"journal":{"name":"2013 6th Robotics and Mechatronics Conference (RobMech)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128703972","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}