{"title":"Robotic Search and Rescue through In-Pipe Movement","authors":"A. Kakogawa, Shugen Ma","doi":"10.5772/INTECHOPEN.88414","DOIUrl":"https://doi.org/10.5772/INTECHOPEN.88414","url":null,"abstract":"So far, we have been engaged in the research and development of various kinds of robots that could be applied to in-pipe inspections that existing methods (screw-drive type, parallel multi-modular type, and articulated wheeled type) cannot perform. In this chapter, we categorized each in-pipe inspection robot depending on its configuration and structure, which includes the design of the propulsive mechanism, steering mechanism, stretching mechanism, and the locations of the wheel and joint axes. On the basis of this classification and from a developer’s point of view, we also discussed the various kinds of robots that we have developed, along with their advantages and disadvantages.","PeriodicalId":305461,"journal":{"name":"Unmanned Robotic Systems and Applications","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-08-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122381756","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":"Advanced UAVs Nonlinear Control Systems and Applications","authors":"A. Joukhadar, Mohammad Alchehabi, Adnan Jejeh","doi":"10.5772/INTECHOPEN.86353","DOIUrl":"https://doi.org/10.5772/INTECHOPEN.86353","url":null,"abstract":"Recent development of different control systems for UAVs has caught the attention of academic and industry, due to the wide range of their applications such as in surveillance, delivery, work assistant, and photography. In addition, arms, grippers, or tethers could be installed to UAVs so that they can assist in construc-ting, transporting, and carrying payloads. In this book chapter, the control laws of the attitude and position of a quadcopter UAV have been derived basically utilizing three methods including backstepping, sliding mode control, and feedback linearization incorporated with LQI optimal controller. The main contribution of this book chapter would be concluded in the strategy of deriving the control laws of the translational positions of a quadcopter UAV. The control laws for trajectory tracking using the proposed strategies have been validated by simulation using MATLAB ® /Simulink and experimental results obtained from a quadcopter test bench. Simulation results show a comparison between the performances of each of the proposed techniques depending on the nonlinear model of the quadcopter system under investigation; the trajectory tracking has been achieved properly for different types of trajectories, i.e., spiral trajectory, in the presence of unknown disturbances. Moreover, the practical results coincided with the results of the simulation results.","PeriodicalId":305461,"journal":{"name":"Unmanned Robotic Systems and Applications","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115846569","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":"Decentralised Scalable Search for a Hazardous Source in Turbulent Conditions","authors":"B. Ristic, C. Gilliam","doi":"10.5772/INTECHOPEN.86540","DOIUrl":"https://doi.org/10.5772/INTECHOPEN.86540","url":null,"abstract":"The problem is autonomous coordinated search by an interconnected group of moving robots for the purpose of finding and localising a source of hazardous emissions (e.g., gas and particles). Dispersion of the emitted substance is assumed to be affected by turbulence, resulting in the absence of concentration gradients. The chapter proposes a search strategy that operates in a completely decentralised manner, as long as the communication network of the moving robots forms a connected graph. By decentralised operation, we mean that each moving robot is reasoning (i.e., estimating the source location and making decisions on robot motion) locally. Coordination of the group is achieved by consensus via communication with the neighbours only, in a manner which does not require global knowledge of the communication network topology.","PeriodicalId":305461,"journal":{"name":"Unmanned Robotic Systems and Applications","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131946183","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}
Archit Krishna Kamath, Vibhu Kumar Tripathi, L. Behera
{"title":"Vision-Based Autonomous Control Schemes for Quadrotor Unmanned Aerial Vehicle","authors":"Archit Krishna Kamath, Vibhu Kumar Tripathi, L. Behera","doi":"10.5772/INTECHOPEN.86057","DOIUrl":"https://doi.org/10.5772/INTECHOPEN.86057","url":null,"abstract":"This chapter deals with the development of vision-based sliding mode control strategies for a quadrotor system that would enable it to perform autonomous tasks such as take-off, landing and visual inspection of structures. The aim of this work is to provide a basic understanding of the quadrotor dynamical model, key concepts in image processing and a detailed description of the sliding mode control, a widely used robust non-linear control scheme. Extensive MATLAB simulations are presented to enhance the understanding of the controller on the quadrotor system subjected to bounded disturbances and uncertainties. The vision algorithms developed in this chapter would provide the necessary reference trajectory to the controller enabling it to exercise control over the system. This work also describes, in brief, the implementation of the developed control and vision algorithms on the DJI Matrice 100 to present real-time experimental data to the readers of this chapter.","PeriodicalId":305461,"journal":{"name":"Unmanned Robotic Systems and Applications","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132115909","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}
A. Ferrein, Ingrid Scholl, T. Neumann, Kai Kruckel, S. Schiffer
{"title":"A System for Continuous Underground Site Mapping and Exploration","authors":"A. Ferrein, Ingrid Scholl, T. Neumann, Kai Kruckel, S. Schiffer","doi":"10.5772/INTECHOPEN.85859","DOIUrl":"https://doi.org/10.5772/INTECHOPEN.85859","url":null,"abstract":"3D mapping becomes ever more important not only in industrial mobile robotic applications for AGV and production vehicles but also for search and rescue scenarios. In this chapter we report on our work of mapping and exploring underground mines. Our contribution is two-fold: First, we present our custom-built 3D laser range platform SWAP and compare it against an architectural laser scanner. The advantages are that the mapping vehicle can scan in a continuous mode and does not have to do stop-and-go scanning. The second contribution is the mapping tool mapit which supports and automates the registration of large sets of point clouds. The idea behind mapit is to keep the raw point cloud data as a basis for any map generation and only store all operations executed on the point clouds. This way the initial data do not get lost, and improvements on low-level date (e.g. improved transforms through loop closure) will automatically improve the final maps. Finally, we also present methods for visualization and interactive exploration of such maps.","PeriodicalId":305461,"journal":{"name":"Unmanned Robotic Systems and Applications","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-05-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117028961","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}
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