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This paper describes a robot controller which uses FPGA. The purpose of the research was to integrate DSC, ARM, and FPGAs for robot controller. As a part of the research objective, this paper deals with robot controller which uses FPGA. Recently, a variety of sensors and actuators have been appeared for robot applications. Though their performance develops year by year, robot controller which utilizes those sensors and actuators often has difficulty to accommodate for their functionalities. This is due to the lack of coherent interface and performance of the controller for the robot. This paper is one of the initial research for the development high performance controller dedicated for robot control in a coherent and structural way.
For autonomous navigation of a mobile robot using landmarks, it is essential to recognize the location and configuration of surrounding objects To recognize the environment, sensors such a s ultrasonic sensors laser range finder. CCD camera, and so on have been used Among the sensors, ultrasonic sensors(sonar) are unexpensive and easy to use However, the data from untrasonic sensors inherently include noisy information In this paper we analyze the sonar data and propose a method to reduce some of the noisy information to recognize features of indoor environment. It is supposed that the environments consist of features of planes, edges, and -corners For the analysis, sonar data of plane, edge, and corner are accumulated for known models The data are filtered to eliminate some noise using the Kalman filter algorithm Then, the data for each feature are compared with model data to extract the characteristics of each feature. We demonstrate the applicability of the proposed method using the sonar data obtained form a sonar transducer rotating and scanning the range information around indoor environment
본 논문은 일반 그래프 최적화(g2o, General Graph Optimization)를 사용하여 그래프 기반 SLAM을 구현한 결과를 기술한다. 일반 그래프 최적화는 SLAM을 노드와 엣지의 그래프를 통하여 표현한다. 노드는 시간에 따른 로봇의 위치를 나타내며, 엣지는 노드들 사이의 구속 조건을 나타낸다. 구속 조건은 센서에 의한 측정값에 의해 결정된다. 일반 그래프 최적화는 구속 조건에 의해 결정되는 성능지표를 최적화하여 SLAM 문제를 해결한다. 실현된 일반 그래프 최적화 방법을 SLAM 방법의 성능 시험용으로 공개된 실험 데이터를 사용하여 검증하였다. This paper describes an implementation of a graph-based simultaneous localization and mapping(SLAM) method called the General Graph Optimization. The General Graph Optimization formulates the SLAM problem using nodes and edges. The nodes represent the location and attitude of a robot in time sequence, and the edge between the nodes depict the constraint between the nodes. The constraints are imposed by sensor measurements. The General Graph Optimization solves the problem by optimizing the performance index determined by the constraints. The implementation is verified using the measurement data sets which are open for test of various SLAM methods.
In this paper, a concept for virtual sensors is proposed for efficient avoidance of obstacles during the motion of robots. The virtual sensor yields new data by combining encoder values and real distance data, and derives new sensor data that includes the mobility of the robot. Simulation on Windows XP is executed to illustrate the proposed approach with actually acquired distance from virtual and actual sensors. To facilitate comparison with the alternative results developed in this paper, we refer to the conventional artificial potential field method using actual distance. Data from virtual sensors show smoother and safer motion in obstacle avoidance traces in regards to obstacle and robot mobility.
There is research reactor sensor data acquisition and fiction, map building, obstacle avoidence, position conclusion, path planning, motion coordination etc. Need environment for an experiment with robot and working space to achieve research for robot. I porpose that simulation is critical in regard with the safty rather than uncensored experiment which can make something dangerous. In this paper, we explain development of simulation program which simulate motion coordination of multiple mobile robots. Because of the simulation program. An experiment about action is available without constructing actuality system beforehand. In addition, the simulation program can be used all for "Distributed System" and "Center concentration System".
We propose driving method of Ultraviolet sensor for fire alarms using pulse width modulation that is used to fire detector. Ultraviolet sensor is UV Tron using gas multiplication effect to current discharge and photoelectric effect of metal. To have high sensibility and to gain proper output voltage. it should have highly responsive performance. This research designed a driving circuit with UV sensors and proposed a method for false alarm reduction. The result shows the prevention and extinction of fire technique degree, certificated operation of detector.