A Versatile Approach for Teaching Autonomous Robot Control to Multi-Disciplinary Undergraduate and Graduate Students

Browne, Aidan F.; Conrad, James M.

doi:10.1109/access.2017.2689686

Cited by 14 publications

(7 citation statements)

References 9 publications

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“…Under the nonholonomic constraints, this experiment introduces challenging control problems from an academic point of view [27]. To achieve the control objective, the distance (d) and the angle (α) between the points C and T p are calculated with Equations ( 1) and (2). Figure 8 shows the control block diagram of this problem.…”

Section: A Robot Position Controlmentioning

confidence: 99%

“…This algorithm creates a weighted matrix that converts the sensor inputs into motor speeds. This matrix is a two-dimensional array with the number of columns corresponding to the number of obstacle sensors (8) and the number of rows corresponding to the number of motors (2). The weights of the matrix are determined empirically depending on the location of the sensors in the robot.…”

Section: Obstacles Avoidancementioning

confidence: 99%

“…Nowadays it is common to find robots in many courses and degree programs [1], [2]. Robotics is used into primary and secondary educational levels, where simple experiments with sensors can be done.…”

Section: Introductionmentioning

confidence: 99%

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Development of an Easy-to-Use Multi-Agent Platform for Teaching Mobile Robotics

et al. 2019

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The use of mobile robots for teaching automatic control is becoming more popular in engineering curricula. Currently, many robot simulators with high-graphical capabilities can be easily used by instructors to teach control engineering. However, the use of real robots is not as straightforward as simulations. There are many hardware and software details that must be considered before applying control. This paper presents the development of an easy-to-use platform for teaching control of mobile robots. The laboratory has been carefully designed to conceal all technical issues, such as communications or the localization that do not address the fundamental concepts of control engineering. To this end, a position sensor based on computer vision has been developed to provide the positions of the robots on the platform in real time. The Khepera IV robot has been selected for this platform because of its flexibility and advanced built-in sensors but the laboratory could be easily adapted for similar robots. The platform offers the opportunity to perform laboratory practices to test many different control strategies within a real experimental multi-agent environment. A methodology for using the platform in the lab is also provided.INDEX TERMS Robotics education, mobile robot laboratory, vision-based indoor positioning sensor.

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Section: A Robot Position Controlmentioning

confidence: 99%

Section: Obstacles Avoidancementioning

confidence: 99%

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Development of an Easy-to-Use Multi-Agent Platform for Teaching Mobile Robotics

et al. 2019

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“…There are a number of important considerations to make when selecting a robotic platform for teaching including cost, size, functionality and interface. Educational robot platforms can broadly be split into three categories; manipulators (used for industrial robotics) [19], legged mobile robots [20] and wheeled mobile robots [21]. For the MRAS unit discussed in Section 1.1, only mobile robots will be discussed here.…”

Section: Robotics In Educationmentioning

confidence: 99%

Mona: an Affordable Open-Source Mobile Robot for Education and Research

Arvin

Espinosa

Bird

et al. 2018

J Intell Robot Syst

117

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Mobile robots are playing a significant role in Higher Education science and engineering teaching, as they offer a flexible platform to explore and teach a wide-range of topics such as mechanics, electronics and software. Unfortunately the widespread adoption is limited by their high cost and the complexity of user interfaces and programming tools. To overcome these issues, a new affordable, adaptable and easy-to-use robotic platform is proposed. Mona is a low-cost, open-source and open-hardware mobile robot, which has been developed to be compatible with a number of standard programming environments. The robot has been successfully used for both education and research at The University of Manchester, UK.

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“…We programmed the system software with LabVIEW, which is widely used in the development of the experimental biomedical equipment [25]. The advantages of LabVIEW include but not limited to flexibility, scalability, as well as a friendly graphical user interface (GUI) [26], [27]. The GUI contains three main units, as shown in Fig.…”

Section: Softwarementioning

confidence: 99%

Development and Testing of a Prototype for 3D Radial Pulse Image Measurement and Compatible With 1D Pulse Wave Analysis

et al. 2019

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This study proposes the prototype of a wrist pulse acquisition device with three-dimensional pulse image (3DPI) obtained at the radial artery. The proposed prototype is designed with mechanical and electronic circuit hardware as well as the control and data acquisition software to have fourteen degrees of movement freedom against the sophisticated geometry of the wrist radial artery for accurate pulse-taking. Three robot fingers with nine degrees of movement freedom and a wrist fixer with two degrees of rotation freedom and one degree of manual movement freedom are designed to mimic the fine pulse-taking skill of a Chinese medicine physician. The customer-designed array sensors with 5 × 5-1 sensing elements in an array are attached on the robot fingertips to get 3DPI with spatial information for direct translation of pulse feeling patterns in Chinese medicine texts, in addition to being compatible with 1D pulse wave analysis. To check reliability of the prototype, adopted is SphygmoCor with pulse data correlation. Consequently, the prototype passes safety tests and has high correlation of pulse data (waveform and peripheral augmented index) with those obtained by SphygmoCor. The automatic multi-depth pulse-taking with robot fingers attached array sensors on their tips can get acceptably repeatable pulse data with coefficient of variation less than 10%. By simultaneous pulse-taking at Cun-Guan-Chi positions, 3DPIs demonstrate great different stereoscopic waveshapes against almost unchanged single temporal pulse waveshape. Hence, the proposed prototype may be a useful tool to perform array pulse-taking for Chinese medicine pulse diagnosis and pulse wave analysis for cardiovascular examination.INDEX TERMS Radial pulse measurements, three-dimensional pulse image (3DPI), pulse wave analysis (PWA), Chinese medicine (CM), medical instrumentation, biomedical engineering.

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A Versatile Approach for Teaching Autonomous Robot Control to Multi-Disciplinary Undergraduate and Graduate Students

Cited by 14 publications

References 9 publications

Development of an Easy-to-Use Multi-Agent Platform for Teaching Mobile Robotics

Development of an Easy-to-Use Multi-Agent Platform for Teaching Mobile Robotics

Mona: an Affordable Open-Source Mobile Robot for Education and Research

Development and Testing of a Prototype for 3D Radial Pulse Image Measurement and Compatible With 1D Pulse Wave Analysis

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