2016 International Conference on Robotics: Current Trends and Future Challenges (RCTFC)最新文献

Kinematics and multi-body dynamics of a bio-inspired quadruped robot with nine linked closed chain legs 九链腿仿生四足机器人运动学与多体动力学

2016 International Conference on Robotics: Current Trends and Future Challenges (RCTFC) Pub Date : 1900-01-01 DOI: 10.1109/RCTFC.2016.7893399

Mayuresh Sadashiv Maradkar, P. V. Manivannan

引用次数: 3

Modeling and simulation of spider robot with an eccentric cylindrical cam mechanism 偏心圆柱凸轮蜘蛛机器人的建模与仿真

2016 International Conference on Robotics: Current Trends and Future Challenges (RCTFC) Pub Date : 1900-01-01 DOI: 10.1109/RCTFC.2016.7893403

R. Thennarasu, K. Thiruppathi, S. Raghuraman

引用次数: 1

Determination of optimum energy level trajectory during swing phase for exoskeleton knee joint 外骨骼膝关节摆动阶段最佳能级轨迹的确定

2016 International Conference on Robotics: Current Trends and Future Challenges (RCTFC) Pub Date : 1900-01-01 DOI: 10.1109/RCTFC.2016.7893416

Jobin Varghese, Akhil V.M., P. K. Rajendrakumar, K. S. Sivanandan

引用次数: 0

SQ-BOT - a modular robot prototype for self-reconfiguring structures SQ-BOT -一个模块化机器人原型，用于自我重构结构

2016 International Conference on Robotics: Current Trends and Future Challenges (RCTFC) Pub Date : 1900-01-01 DOI: 10.1109/RCTFC.2016.7893408

C. S. Reddy, Sharath Patlolla, Anita Agrawal, K. Anupama

引用次数: 2

Map spread factor based confidence weighted average technique for adaptive SLAM with unknown sensor model and noise covariance 基于置信度加权平均的未知传感器模型和噪声协方差自适应SLAM技术

2016 International Conference on Robotics: Current Trends and Future Challenges (RCTFC) Pub Date : 1900-01-01 DOI: 10.1109/RCTFC.2016.7893405

S. R. Kumar, K. Ramkumar, S. Srinivasan

引用次数: 3

Investigation on optimized relative localization of a mobile robot using regression analysis 基于回归分析的移动机器人优化相对定位研究

2016 International Conference on Robotics: Current Trends and Future Challenges (RCTFC) Pub Date : 1900-01-01 DOI: 10.1109/RCTFC.2016.7893407

Abhishek Sharma, R. K. Patel, Vikas Thapa, Beena Gairola, B. Pandey, Barre Alex Epenetus, S. Choudhury, A. Mondal

{"title":"Investigation on optimized relative localization of a mobile robot using regression analysis","authors":"Abhishek Sharma, R. K. Patel, Vikas Thapa, Beena Gairola, B. Pandey, Barre Alex Epenetus, S. Choudhury, A. Mondal","doi":"10.1109/RCTFC.2016.7893407","DOIUrl":"https://doi.org/10.1109/RCTFC.2016.7893407","url":null,"abstract":"The localization of a differential drive wheel robot is a basic control issue in versatile mechanical autonomy. Odometry is a natural technique for deciding the relative localization of mobile robots. It includes the identification of an arrangement of kinematic parameters that allow remaking relative localization of mobile robots and introduction beginning from the encoder wheel data evaluation. Therefore an effective path following technique is desired to develop an autonomous mobile robot with less odometry error. This paper describes a method to identify the optimal value of wheel velocities for relative localization of differential drive wheel robot on a circular and straight path. The proposed technique describes the dependency of odometry error on wheel velocities. Experiments have been performed by employing a two wheel differential drive mobile robot. Linear regression analysis is done to find the relationship between wheel velocity and the odometry of the mobile robot. Confirmation test is also done with the implementation of ANOVA techniques, by using statistical tools available in scientific analyses software MINITAB. A simulation software V-Rep 3.2.1 was used for the validation of the proposed method.","PeriodicalId":147181,"journal":{"name":"2016 International Conference on Robotics: Current Trends and Future Challenges (RCTFC)","volume":"136 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132670162","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}

引用次数: 2

Dynamic modelling of four wheel skid mobile robot by unified bond graph approach 基于统一键合图法的四轮防滑移动机器人动力学建模

2016 International Conference on Robotics: Current Trends and Future Challenges (RCTFC) Pub Date : 1900-01-01 DOI: 10.1109/RCTFC.2016.7893412

S. Sahoo, S. Chiddarwar

引用次数: 2

Human driver emulation and cognitive decision making for autonomous cars 人类驾驶仿真与自动驾驶汽车认知决策

2016 International Conference on Robotics: Current Trends and Future Challenges (RCTFC) Pub Date : 1900-01-01 DOI: 10.1109/RCTFC.2016.7893411

P. Suresh, P. V. Manivannan

引用次数: 6

Automatic soil nutrient detection and fertilizer dispensary system 土壤养分自动检测及配肥系统

2016 International Conference on Robotics: Current Trends and Future Challenges (RCTFC) Pub Date : 1900-01-01 DOI: 10.1109/RCTFC.2016.7893418

A. A., L. R., A. Sreedevi

{"title":"Automatic soil nutrient detection and fertilizer dispensary system","authors":"A. A., L. R., A. Sreedevi","doi":"10.1109/RCTFC.2016.7893418","DOIUrl":"https://doi.org/10.1109/RCTFC.2016.7893418","url":null,"abstract":"Soil fertility is an important factor to measure the quality of the soil as it indicates the extent to which it can support plant life. The fertility of soil is measured by the amount of macro and micronutrients, water, pH etc. Soil nutrients are depleted after every harvest and hence must be replenished. To maintain nutrient levels in the soil in case of deficiency, fertilizers are added to soil. Most of the farmers choose to approximate the amount of fertilizers and add them manually. However, addition of fertilizers in right amount is a matter of great importance as excess or insufficient addition can harm the plant life and reduce the yield. Use of modern trends and technology promises to provide a solution to the above problem. Though automated techniques for seeding, weeding, harvesting the crops etc. have been proposed and implemented, none of the techniques target at maintaining soil fertility. The proposed research aims at restoring the levels of Nitrogen, phosphorous, potassium in the soil by the measuring the amount of nutrients present. The presence of nutrients is determined by chemical processes and quantified using sensors. An automated system has been developed for the controlled addition of fertilizers in order to avoid excess/ deficient fertilizers in the soil.","PeriodicalId":147181,"journal":{"name":"2016 International Conference on Robotics: Current Trends and Future Challenges (RCTFC)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133193416","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}

引用次数: 33

Physical modeling and control of self-balancing platform on a cart 小车自平衡平台的物理建模与控制

2016 International Conference on Robotics: Current Trends and Future Challenges (RCTFC) Pub Date : 1900-01-01 DOI: 10.1109/RCTFC.2016.7893410

G. Madhumitha, R. Srividhya, Joe Johnson, D. Annamalai

{"title":"Physical modeling and control of self-balancing platform on a cart","authors":"G. Madhumitha, R. Srividhya, Joe Johnson, D. Annamalai","doi":"10.1109/RCTFC.2016.7893410","DOIUrl":"https://doi.org/10.1109/RCTFC.2016.7893410","url":null,"abstract":"This paper demonstrates a self-balancing platform with 2-degrees of freedom on a cart which is generally treated as inverted pendulum for simplicity. The system can be used in various transportation devices, delivery and stabilization systems and is particularly suitable for working in outdoor where the surface of ground is not flat or structured. The platform can freely rotate with the help of a ball and socket joint at its center. Lateral and longitudinal movements are controlled by two servomotors for each axis. As the cart moves on slope or on a rough terrain, the instantaneous tilt of the platform is measured by a gyroscope assembly which is compared with the desired orientation of the platform and can take corrective measure for platform up to 5 degrees in both axes. In this paper, physical modeling method is used for rapid simulation of system and mathematical relationship between platform tilt with respect to servomotor's rotation angle is developed. Proportional-integral-derivative (PID) controller is used for desired smooth operation and jerk attenuated balance of the platform. Comparative study of performance of the system for the physical model developed and the one that is implemented is made.","PeriodicalId":147181,"journal":{"name":"2016 International Conference on Robotics: Current Trends and Future Challenges (RCTFC)","volume":"90 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114064232","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}

引用次数: 6