The need for robust indoor localisation for all types of entities has been under continuous research by the ubiquitous community. Intelligent environments have to be supported with contextual information in order to facilitate intelligent behaviour. These contextual information include the location of humans and objects within the particular environment. Intelligent environments can be living areas with home automation, smart industrial plants, sensorequipped office areas and indoor-emergency applications. So far technical solutions are either quite expensive or lack of precision for robust usage as components in intelligent service federations. We present rather low-cost localisation systems with great scalability based on active and passive RFID technology to locate humans, mobile service robots and objects of the daily use. The trade-off between technical effort and costs on the one hand and sufficient data accuracy for the application on the other hand is discussed. A motivation of our scenario, the technical concept and solution as well as the implementation and the integration that so far have been performed will be presented. Current prototypes of the proposed system are already being tested in a project aiming on development of smart assisted living environments.
Abstract-This paper describes the thermodynamical model of a vacuum system for a climbing robot. Based on this model a simulation system is described, which is used to evaluate the influence of leakage situations on the adhesion system and to test control approaches. As a validation of the simulation parameters and the adhesion strategy a test platform was constructed and tested on concrete walls.
Abstract-A highly flexible framework for visualization and sensor simulation in three-dimensional environments is presented. By allowing the insertion of freely programmable elements for online scene modification, a programmer can customize the framework to fulfill the exact simulation or visualization needs of an application of interest. Furthermore, the framework provides simple external interfaces so that multiple clients can be attached to it with ease. The frameworks' capabilities are demonstrated with two complex robotic applications that require both a high quality simulation of cameras and lasers scanners and an intuitive 3D visualization.
Abstract. This paper discusses the simulation of vehicle kinematics with SimVis3D and the Newton Game Dynamics Engine. As running example a Pioneer 1 like robot is used. First its differential drive is simulated manually, without physical effects. Then the dynamics engine is applied to simulate this drive mechanism based on rolling friction between wheels and ground. Comparing the effort of application code for both approaches shows the benefit of delegating the calculation of rigid body motions. This fact is further stressed by simulating a trailer as a passive vehicle without any code extensions. Finally, a standard vehicle kinematic system consisting of Ackermann steering and rear wheel drive is realized 2 . The paper concludes with an application of this model for simulating the drive system of a bucket excavator as real world scenario.
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