Radomir Tarasov, O. Davydov, V. Pryanichnikov, Mariya Solov'eva, Egor Shipovalov, S. Eprikov
{"title":"Software and control shell for service robots with parallel computing","authors":"Radomir Tarasov, O. Davydov, V. Pryanichnikov, Mariya Solov'eva, Egor Shipovalov, S. Eprikov","doi":"10.31776/rtcj.9203","DOIUrl":"https://doi.org/10.31776/rtcj.9203","url":null,"abstract":"KIAM Russian Academy of Sciences, International Laboratory «Sensorika» conduct research and development of service robots for tasks of telemedicine. The developed mobile robot AMUR-307 is planned to be used in clinics to move various objects between the premises of the building, separated by thresholds, stairs and doors. The robot is controlled remotely via a radio channel from the operator's post. It is also intended to minimize operator interference and apply the developed algorithms for autonomous operation using an on-board computing device. To control robots of this type, a software and hardware microprocessor system was designed and manufactured and its comprehensive testing was performed. The solution allows you quickly make changes to the customer's requirements and deliver robots, integrating them into the existing infrastructure. The article presents the results of research and comparison of various ways to implement the robot, optimize its structure, replication technology and parallel programming using the GPU.","PeriodicalId":376940,"journal":{"name":"Robotics and Technical Cybernetics","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-06-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116428158","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":"Maintaining the spatial stability of a swarm of autonomous unmanned aerial vehicles","authors":"A. Boyko, Ruben Girgidov","doi":"10.31776/rtcj.9201","DOIUrl":"https://doi.org/10.31776/rtcj.9201","url":null,"abstract":"This paper describes the application of a swarm engineering methodology that allows creating hexagonal UAV grids with predefined properties. It is achieved by imitation of physics processes that demonstrate conditions for stabilizing the above-mention hexagon grids of UAV swarm. We propose a simple combination of software and hardware applications that create a more efficient practical solution.","PeriodicalId":376940,"journal":{"name":"Robotics and Technical Cybernetics","volume":"56 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-06-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129682454","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}
V. Pryanichnikov, Egor Shipovalov, Radomir Tarasov
{"title":"Intelligent support of logistics missions in medical institutions by mobile service robots AMUR-307","authors":"V. Pryanichnikov, Egor Shipovalov, Radomir Tarasov","doi":"10.31776/rtcj.9206","DOIUrl":"https://doi.org/10.31776/rtcj.9206","url":null,"abstract":"Technologies of missions’ generation for the mobile robots (MR) Amur-307 by the parallelized automatic scheduler and their implementation by the integration software (SW) with the hardware block (HB) on 6 power channels (6x30A), with the branched sensorics are considered. The program generator is forming the tasks in the PDDL language based on the route map in vector graphic format, parameters of objects moved by robots, and equipment installed on robots. The developed plan is implemented by the HB and the navigation control program, based on topological information extracted from the map, based on passive oriented visual markers installed in the walls. The robot can work both in real and in virtual environments, using the Webots emulator and/or relying on its own original developments.","PeriodicalId":376940,"journal":{"name":"Robotics and Technical Cybernetics","volume":"100 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-06-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131407592","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":"Integrated navigation of unmanned ground vehicles","authors":"Il’ya Shipov, Evgeniy Vetoshkin","doi":"10.31776/rtcj.9207","DOIUrl":"https://doi.org/10.31776/rtcj.9207","url":null,"abstract":"The article considers the experience of creating integrated navigation systems for ground robotic complexes. The main difficulties of choosing the instrument composition and element base in the conditions of domestic industry are outlined. A typical algorithm for prioritizing the initial data for the integrating and generating solutions algorithm for tasks of orientation and determining spatial position is described.","PeriodicalId":376940,"journal":{"name":"Robotics and Technical Cybernetics","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-06-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116014648","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":"Design and architecture solutions for service robot waiter with a specialized system of payload stabilization","authors":"Petr Smirnov","doi":"10.31776/rtcj.9210","DOIUrl":"https://doi.org/10.31776/rtcj.9210","url":null,"abstract":"Application of robotic devices in subject domains, where monotonous routines have to be performed promptly and accurately, is a relevant problem, particularly in complicated epidemiological situations. In this paper the design of robot waiters is analyzed and a design is proposed for stabilization of payload during delivering. Common applied problems in the robotic service domain are associated with the need to use such robots on mostly even, flat surfaces or with the arrangement of special structures that simplify the movement of a robotic device along a given route. The proposed solution potentially provides for cheaper, simpler and more optimized application of the robotic device indoors, inside the restraunt due to the developed buffer mechanism and the system of gyroscopic stabilization of the trays, as well as the implemented control system based on the PID controller and the PWM generator, which ensures the smooth movement of the robot (from the starting point to the destination point). Based on the proposed solution, we get a fully functional robotic device that does not require additional investments in the reconstruction of the restaurant premises, completely replaces the waiter when delivering food and drinks to the client's table, and also attracts new customers due to its novelty and practicality.","PeriodicalId":376940,"journal":{"name":"Robotics and Technical Cybernetics","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-06-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134373047","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}
V. Alexeev, D. Goryachkin, N. Gryaznov, V. Kuprenyuk, E. Sosnov
{"title":"Prospects for using gated lidars in autonomous mobile robots","authors":"V. Alexeev, D. Goryachkin, N. Gryaznov, V. Kuprenyuk, E. Sosnov","doi":"10.31776/rtcj.9208","DOIUrl":"https://doi.org/10.31776/rtcj.9208","url":null,"abstract":"The analysis of the implementation problems of technical vision systems based on the use of time-of-flight laser lidars is carried out. It is concluded that the implementation of vision systems with acceptable parameters dictates an excessively high cost of the lidar. An alternative version of the lidar implementation is considered – a gated lidar based on a laser vision system. Replacing the broadband detector and high-speed scanning system with a gated CCD-matrix can significantly reduce the cost of the lidar while ensuring the high resolution of the lidar. The analysis of the dependence of the signal-to-noise ratio for gated lidar with and without an electron-optical converter has shown that in bad weather conditions the decrease in the gain of the useful signal when the image intensifier is excluded is compensated by the exclusion of the EOC's noise factor, so that the loss in the observation distance is less than 15%.","PeriodicalId":376940,"journal":{"name":"Robotics and Technical Cybernetics","volume":"78 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-06-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126229963","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}
I. Guschin, A. Leschinskiy, A. Zhukov, A. Zarukin, V. Kiryukhin, Vladimir V. Levschanov, V. Prikhod'ko, V. Svetukhin, Alexei Sobolev, A. Fomin, E. Chavkin
{"title":"Radiation-tolerant robotic complex URS-2","authors":"I. Guschin, A. Leschinskiy, A. Zhukov, A. Zarukin, V. Kiryukhin, Vladimir V. Levschanov, V. Prikhod'ko, V. Svetukhin, Alexei Sobolev, A. Fomin, E. Chavkin","doi":"10.31776/rtcj.9209","DOIUrl":"https://doi.org/10.31776/rtcj.9209","url":null,"abstract":"The results of the development of a radiation-tolerant robotic complex URS-2 for operation in hot cells at nuclear enterprises are presented. The robotic complex consists of several original components: robotic arm, control device with force feedback, control panel with hardware buttons and touch screen, control computer with system and application software, control-and-power cabinet. The robotic manipulator has 6 degrees of freedom, replaceable pneumatic grippers and is characterized by high radiation tolerance, similar to that of mechanical master-slave manipulators. The original design of the control device based on the delta-robot model that implements a copying mode of manual control of the robotic complex with force feedback is presented. The hardware and software solutions developed has made it possible to create a virtual simulator of the RTC for testing innovative methods of remote control of the robot, as well as teaching operators to perform technological tasks in hot cells. The experimental model of the robotic complex has demonstrated the ability to perform basic technological tasks in a demo hot cell, both in manual and automatic modes.","PeriodicalId":376940,"journal":{"name":"Robotics and Technical Cybernetics","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-06-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127711551","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":"Method of localization of agricultural robotic vehicles using AESA established by an UAV complex","authors":"A. Denisov","doi":"10.31776/rtcj.9205","DOIUrl":"https://doi.org/10.31776/rtcj.9205","url":null,"abstract":"This paper considers a relevant method to ensure communication and object location in vast agricultural areas. To solve this problem an operational scenario was proposed, an approach, involving a complex of several UAVs, which establish an AESA; an algorithm for building an optimal path, along which the UAV complex moves, formulas for calculating AESA direction pattern for linear and flat formations of UAV groups, formulas for calculating time, required for terrain scanning with various areas. In such complex on each UAV an antenna with phase shifter is mounted. The paper also considers modeling and comparison of different approaches to motion of an UAV complex for terrain scanning. Due to application of active electronically scanned arrays, the proposed localization method is characterized by high noise immunity, is better shielded from noise, less dependent on weather conditions and appliable at night time. Unlike other methods, it supports wide-range transmission and reception of data. Thereby, application of AESA makes this method robust and practical for localization and communication establishment, whereas the proposed algorithm for building of optimal path, along which the robotic complex moves, enables to reduce time, required for area scanning. Consequently, this method allows achieving the shortest distance that the UAV complex has to cover.","PeriodicalId":376940,"journal":{"name":"Robotics and Technical Cybernetics","volume":"476 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-06-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127086895","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":"Study of pointing system for implementation of optical communication of mobile robots","authors":"Darya Stepanova","doi":"10.31776/rtcj.9202","DOIUrl":"https://doi.org/10.31776/rtcj.9202","url":null,"abstract":"Hardware and software solutions for high-precision pointing tasks have found application in various fields of robotics. For mobile robots operating in extreme conditions, pointing of instruments, data transmission systems and navigation devices is a task of prime importance. Using the visual system as a feedback, it is possible to achieve pointing of aircraft embedded instruments with high accuracy. The issues of interest for this work on the development of a high-frequency guidance control loop and its implementation using the visual system as feedback remain relevant for research. In the course of this work, a study was carried out for the use of such systems. Based on the previously derived requirements for the system, the architecture of the pointing system was developed. Next, a variant of the control system implementation was investigated to achieve the required accuracy of instrument pointing. In addition, hardware solution was considered and a system model was built taking into account the mutual influence of the pointing system drives, and with a closed control loop.","PeriodicalId":376940,"journal":{"name":"Robotics and Technical Cybernetics","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-06-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131659968","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 the visual data processing algorithms for onboard computing units","authors":"S. Sokolov, A. Boguslavsky, S. Romanenko","doi":"10.31776/rtcj.9204","DOIUrl":"https://doi.org/10.31776/rtcj.9204","url":null,"abstract":"According to the short analysis of modern experience of hardware and software for autonomous mobile robots a role of computer vision systems in the structure of those robots is considered. A number of configurations of onboard computers and implementation of algorithms for visual data capturing and processing are described. In original configuration space the «algorithms-hardware» plane is considered. For software designing the realtime vision system framework is used. Experiments with the computing module based on the Intel/Altera Cyclone IV FPGA (implementation of the histogram computation algorithm and the Canny's algorithm), with the computing module based on the Xilinx FPGA (implementation of a sparse and dense optical flow algorithms) are described. Also implementation of algorithm of graph segmentation of grayscale images is considered and analyzed. Results of the first experiments are presented.","PeriodicalId":376940,"journal":{"name":"Robotics and Technical Cybernetics","volume":"60 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-06-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129412069","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}