Service Models for Cloud Computing: Search as a Service (SaaS)

Dašić, Predrag; Dašić, Jovan; Crvenković, Bojan

doi:10.21817/ijet/2016/v8i5/160805034

Cited by 14 publications

(6 citation statements)

References 17 publications

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“…In order to create a good model capable of reproducing the dynamic behaviour of the WMR, we decided to build a multi body model of the rover by using a CAD assembly file from Solidworks software [65].…”

Section: Wheeled Robot Modelling In a Gazebo-based Environmentmentioning

confidence: 99%

Unmanned Ground Vehicle Modelling in Gazebo/ROS-Based Environments

Rivera¹,

Simone

Guida

2019

Machines

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The fusion of different technologies is the base of the fourth industrial revolution. Companies are encouraged to integrate new tools in their production processes in order to improve working conditions and increase productivity and production quality. The integration between information, communication technologies and industrial automation can create highly flexible production models for products and services that can be customized through real-time interactions between consumer, production and machinery throughout the production process. The future of production, therefore, depends on increasingly intelligent machinery through the use of digital systems. The key elements for future integrated devices are intelligent systems and machines, based on human–machine interaction and information sharing. To do so, the implementation of shared languages that allow different systems to dialogue in a simple way is necessary. In this perspective, the use of advanced prototyping tools like Open-Source programming systems, the development of more detailed multibody models through the use of CAD software and the use of self-learning techniques will allow for developing a new class of machines capable of revolutionizing our companies. The purpose of this paper is to present a waypoint navigation activity of a custom Wheeled Mobile Robot (WMR) in an available simulated 3D indoor environment by using the Gazebo simulator. Gazebo was developed in 2002 at the University of Southern California. The idea was to create a high-fidelity simulator that gave the possibility to simulate robots in outdoor environments under various conditions. In particular, we wanted to test the high-performance physics Open Dynamics Engine (ODE) and the sensors feature present in Gazebo for prototype development activities. This choice was made for the possibility of emulating not only the system under analysis, but also the world in which the robot will operate. Furthermore, the integration tools available with Solidworks and Matlab-Simulink, well known commercial platforms of modelling and robotics control respectively, are also explored.

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Section: Wheeled Robot Modelling In a Gazebo-based Environmentmentioning

confidence: 99%

Unmanned Ground Vehicle Modelling in Gazebo/ROS-Based Environments

Rivera¹,

Simone

Guida

2019

Machines

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“…The Underactuation Equivalence Principle, on the other hand, is suitable for modeling underactuated nonholonomic mechanical systems and can be used for the synthesis of effective nonlinear control strategies. A unicycle-like mobile robot having one steerable drive wheel that is assumed to be always perpendicular to the ground, which represents one of the most common types of mobile robots employed in engineering applications, is used in this work for demonstrating the effectiveness of the inverse dynamic method devised in this investigation [82][83][84][85].…”

Section: Scope and Contributions Of This Research Workmentioning

confidence: 99%

Forward and Inverse Dynamics of a Unicycle-Like Mobile Robot

Pappalardo

Guida

2019

Machines

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In this research work, a new method for solving forward and inverse dynamic problems of mechanical systems having an underactuated structure and subjected to holonomic and/or nonholonomic constraints is developed. The method devised in this paper is based on the combination of the Udwadia-Kalaba Equations with the Underactuation Equivalence Principle. First, an analytical method based on the Udwadia-Kalaba Equations is employed in the paper for handling dynamic and control problems of nonlinear nonholonomic mechanical systems in the same computational framework. Subsequently, the Underactuation Equivalence Principle is used for extending the capabilities of the Udwadia-Kalaba Equations from fully actuated mechanical systems to underactuated mechanical systems. The Underactuation Equivalence Principle represents an efficient method recently developed in the field of classical mechanics. The Underactuation Equivalence Principle is used in this paper for mathematically formalizing the underactuation property of a mechanical system considering a particular set of nonholonomic algebraic constraints defined at the acceleration level. On the other hand, in this study, the Udwadia-Kalaba Equations are analytically reformulated in a mathematical form suitable for treating inverse dynamic problems. By doing so, the Udwadia-Kalaba Equations are employed in conjunction with the Underactuation Equivalence Principle for developing a nonlinear control method based on an inverse dynamic approach. As shown in detail in this investigation, the proposed method can be used for analytically solving in an explicit manner the forward and inverse dynamic problems of several nonholonomic mechanical systems. In particular, the tracking control of the unicycle-like mobile robot is considered in this investigation as a benchmark example. Numerical experiments on the dynamic model of the unicycle-like mobile robot confirm the effectiveness of the nonlinear dynamic and control approaches developed in this work.

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“…Furthermore, the use of low-cost electronic components does not affect the possibility to obtain good models by means of identification techniques [20][21][22][23][24]. The identification of models and very detailed multi-body models, created by using 3D CAD models [25][26][27][28][29][30][31], are the starting point for designing optimal control laws [32][33][34][35][36][37][38][39][40][41][42]. Most multi-body simulation software considers systems made up of rigid bodies, but it is possible to study the behavior of flexible multi-body systems by using ANCFtechniques [43][44][45][46].…”

Section: Introductionmentioning

confidence: 99%

Obstacle Avoidance System for Unmanned Ground Vehicles by Using Ultrasonic Sensors

2018

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Artificial intelligence is the ability of a computer to perform the functions and reasoning typical of the human mind. In its purely informatic aspect, it includes the theory and techniques for the development of algorithms that allow machines to show an intelligent ability and/or perform an intelligent activity, at least in specific areas. In particular, there are automatic learning algorithms based on the same mechanisms that are thought to be the basis of all the cognitive processes developed by the human brain. Such a powerful tool has already started to produce a new class of self-driving vehicles. With the projections of population growth that will increase until the year 2100 up to 11.2 billion, research on innovating agricultural techniques must be continued. In order to improve the efficiency regarding precision agriculture, the use of autonomous agricultural machines must become an important issue. For this reason, it was decided to test the use of the "Neural Network Toolbox" tool already present in MATLAB to design an artificial neural network with supervised learning suitable for classification and pattern recognition by using data collected by an ultrasonic sensor. The idea is to use such a protocol to retrofit kits for agricultural machines already present on the market.

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Service Models for Cloud Computing: Search as a Service (SaaS)

Cited by 14 publications

References 17 publications

Unmanned Ground Vehicle Modelling in Gazebo/ROS-Based Environments

Unmanned Ground Vehicle Modelling in Gazebo/ROS-Based Environments

Forward and Inverse Dynamics of a Unicycle-Like Mobile Robot

Obstacle Avoidance System for Unmanned Ground Vehicles by Using Ultrasonic Sensors

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