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1 – 7 of 7Gutembert Nganpet Nzeugaing and Elmarie Biermann
Research and application on the design, implementation and testing of an image compression system for a 3U CubeSat.
Abstract
Purpose
Research and application on the design, implementation and testing of an image compression system for a 3U CubeSat.
Design/methodology/approach
This paper is an intensive study on image compression technique, proposed design and approach on appropriate hardware for image compression on-board the CubeSats.
Findings
The paper reveals a method on improving image compression ration while maintaining the image quality unchanged. It also discusses about an appropriate hardware (world smallest super computer) for image compression on-board the CubeSats.
Originality/value
The study provides insight into image compression algorithm.
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Keywords
Cem Şafak Şahin and M. Ümit Uyar
This paper aims to present an approach for a bio‐inspired decentralization topology control mechanism, called force‐based genetic algorithm (FGA), where a genetic algorithm (GA…
Abstract
Purpose
This paper aims to present an approach for a bio‐inspired decentralization topology control mechanism, called force‐based genetic algorithm (FGA), where a genetic algorithm (GA) is run by each holonomic autonomous vehicle (HAV) in a mobile ad hoc network (MANET) as software agent to achieve a uniform spread of HAVs and to provide a fully connected network over an unknown geographical terrain. An HAV runs its own FGA to decide its next movement direction and speed based on local neighborhood information, such as obstacles and the number of neighbors, without a centralized control unit or global knowledge.
Design/methodology/approach
The objective function used in FGA is inspired by the equilibrium of the molecules in physics where each molecule tries to be in the balanced position to spend minimum energy to maintain its position. In this approach, a virtual force is assumed to be applied by the neighboring HAVs to a given HAV. At equilibrium, the aggregate virtual force applied to an HAV by its neighbors should sum up to zero. If the aggregate virtual force is not zero, it is used as a fitness value for the HAV. The value of this virtual force depends on the number of neighbors within the communication range of Rcom and the distance among them. Each chromosome in our GA‐based framework is composed of speed and movement direction. The FGA is independently run by each HAV as a topology control mechanism and only utilizes information from neighbors and local terrain to make movement and speed decisions to converge towards a uniform distribution of HAVs. The authors developed an analytical model, simulation software and several testbeds to study the convergence properties of the FGA.
Findings
The paper finds that coverage‐centric, bio‐inspired, mobile node deployment algorithm ensures effective sensing coverage for each mobile node after initial deployment. The FGA is also an energy‐aware self‐organization framework since it reduces energy consumption by eliminating unnecessary excessive movements. Fault‐tolerance is another important feature of the GA‐based approach since the FGA is resilient to losses and malfunctions of HAVs. Furthermore, the analytical results show that the authors' bio‐inspired approach is effective in terms of convergence speed and area coverage uniformity. As seen from the experimental results, the FGA delivers promising results for uniform autonomous mobile node distribution over an unknown geographical terrain.
Originality/value
The proposed decentralized and bio‐inspired approach for autonomous mobile nodes can be used as a real‐time topology control mechanism for commercial and military applications since it adapts to local environment rapidly but does not require global network knowledge.
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The aim of this paper is to propose a robust robot fuzzy logic proportional-derivative (PD) controller for trajectory tracking of autonomous nonholonomic differential drive…
Abstract
Purpose
The aim of this paper is to propose a robust robot fuzzy logic proportional-derivative (PD) controller for trajectory tracking of autonomous nonholonomic differential drive wheeled mobile robot (WMR) of the type Quanser Qbot.
Design/methodology/approach
Fuzzy robot control approach is used for developing a robust fuzzy PD controller for trajectory tracking of a nonholonomic differential drive WMR. The linear/angular velocity of the differential drive mobile robot are formulated such that the tracking errors between the robot’s trajectory and the reference path converge asymptotically to zero. Here, a new controller zero-order Takagy–Sugeno trajectory tracking (ZTS-TT) controller is deduced for robot’s speed regulation based on the fuzzy PD controller. The WMR used for the experimental implementation is Quanser Qbot which has two differential drive wheels; therefore, the right/left wheel velocity of the differential wheels of the robot are worked out using inverse kinematics model. The controller is implemented using MATLAB Simulink with QUARC framework, downloaded and compiled into executable (.exe) on the robot based on the WIFI TCP/IP connection.
Findings
Compared to other fuzzy proportional-integral-derivative (PID) controllers, the proposed fuzzy PD controller was found to be robust, stable and consuming less resources on the robot. The comparative results of the proposed ZTS-TT controller and the conventional PD controller demonstrated clearly that the proposed ZTS-TT controller provides better tracking performances, flexibility, robustness and stability for the WMR.
Practical implications
The proposed fuzzy PD controller can be improved using hybrid techniques. The proposed approach can be developed for obstacle detection and collision avoidance in combination with trajectory tracking for use in environments with obstacles.
Originality/value
A robust fuzzy logic PD is developed and its performances are compared to the existing fuzzy PID controller. A ZTS-TT controller is deduced for trajectory tracking of an autonomous nonholonomic differential drive mobile robot (i.e. Quanser Qbot).
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Antonios Bouloubasis, Gerard McKee and Peter Tolson
This paper aims to address some of the needs of present and upcoming rover designs, and introduces novel concepts incorporated in a planetary surface exploration rover design that…
Abstract
Purpose
This paper aims to address some of the needs of present and upcoming rover designs, and introduces novel concepts incorporated in a planetary surface exploration rover design that is currently under development.
Design/methodology/approach
The Multitasking Rover (MTR) is a highly re‐configurable system that aims to demonstrate functionality that will cover many of the current and future needs such as rough‐terrain mobility, modularity and upgradeability. lt comprises a surface mobility platform which is highly re‐configurable, which offers centre of mass re‐allocation and rough terrain stability, and also a set of science/tool packs – individual sub‐systems encapsulated in packs which the rover picks up, transports and deploys.
Findings
Early testing of the suspension system suggests exceptional performance characteristics.
Originality/value
Principles employed in the design of the MTR can be used in future rover systems to reduce associated mission costs and at the same time provide multiples the functionality.
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Agus Budiyono, Gigun Lee, Gyou Beom Kim, Jungkeun Park, Taesam Kang and Kwang Joon Yoon
– The purpose of this paper was to present the process of building hardware and software for a collision avoidance system of a quadrotor capable of an indoor autonomous flight.
Abstract
Purpose
The purpose of this paper was to present the process of building hardware and software for a collision avoidance system of a quadrotor capable of an indoor autonomous flight.
Design/methodology/approach
The system development was carried out in two steps. First, the quadrotor system was designed to mount mission equipments for an indoor flight. The prediction error minimization (PEM) method was used for system identification of the quadrotor, and the linear quadratic regulator (LQR) control method was used for the attitude control. Second, a collision detection system was realized by using a Kinect sensor, an embedded board and a ground control system (GCS). A Kinect sensor with embedded board can send the 3D depth information to GCS and then the GCS displays the 3D depth information with a warning message.
Findings
As the controller design requires a linear model, the PEM method was used in system identification. The LQR was used in controller design. It was found that the use of the PEM method for system identification was effective for developing a linear model required for a practical control system using LQR. As 3D depth information from a Kinect sensor is quite accurate in an indoor environment, a collision detection system with Kinect was successfully developed.
Practical implications
The step-by-step approach presented in this paper can be used to develop an autonomous aerial vehicle capable of navigating in an indoor environment with obstacles.
Originality/value
The primary contribution of the paper is the presentation of a practical method for developing a low-cost collision avoidance system for a quadrotor vehicle.
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Sajad Saeedi, Carl Thibault, Michael Trentini and Howard Li
The purpose of this paper is to present a localization and mapping data set acquired by a fixed-wing unmanned aerial vehicle (UAV). The data set was collected for educational and…
Abstract
Purpose
The purpose of this paper is to present a localization and mapping data set acquired by a fixed-wing unmanned aerial vehicle (UAV). The data set was collected for educational and research purposes: to save time in dealing with hardware and to compare the results with a benchmark data set. The data were collected in standard Robot Operating System (ROS) format. The environment, fixed-wing, and sensor configuration are explained in detail. GPS coordinates of the fixed-wing are also available as ground truth. The data set is available for download (www.ece.unb.ca/COBRA/open_source.htm).
Design/methodology/approach
The data were collected in standard ROS format. The environment, fixed-wing, and sensor configuration are explained in detail.
Findings
The data set can be used for target localization and mapping. The data were collected to assist algorithm developments and help researchers to compare their results. Robotic data sets are specifically important when they are related to unmanned systems such as fixed-wing aircraft.
Originality/value
The Robotics Data Set Repository (RADISH) by A. Howard and N. Roy hosts 41 well-known data sets with different sensors; however, there is no fixed-wing data set in RADISH. This work presents two data sets collected by a fixed-wing aircraft using ROS standards. The data sets can be used for target localization and SLAM.
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– The purpose of this paper is to review some of the various worldwide projects to develop and apply innovative swarm-type robots to many challenging applications.
Abstract
Purpose
The purpose of this paper is to review some of the various worldwide projects to develop and apply innovative swarm-type robots to many challenging applications.
Design/methodology/approach
An in-depth review of published information and interviews with researchers and developers of swarm robot technology were conducted.
Findings
Swarm robots continue to be developed to match an ever-increasing number of interesting and innovative applications.
Practical implications
Readers may be very surprised at the tasks that autonomous swarm robots can address and the developments that are underway to further extend the abilities of swarm robots.
Originality/value
This paper is a review of a wide range of the latest swarm robot developments, innovations and applications.
Details