The mechanical design and construction of a mobile outdoor multi-terrain robot

Carnegie, Dale A.; Cordes, J.

doi:10.1243/0954405042418509

Cited by 8 publications

(8 citation statements)

References 3 publications

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“…Positioning has used odometry, fibre optic gyro, tilt sensor and acoustic (Yu et al, 2008). Global positioning system (GPS) is a de facto positioning system (Carnegie and Cordes, 2004) but GPS does not operate indoors or in electromagnetically shielded areas (Ranky, 2007). Assisted GPS (Lim et al, 2007) may be applicable indoors, but it requires network assistance and special hardware.…”

Section: Sensor Systemmentioning

confidence: 99%

Comparing speed to complete progressively more difficult mobile robot paths between human tele‐operators and humans with sensor‐systems to assist

Sanders

2009

Assembly Automation

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Purpose -The purpose of this paper is to investigate the effect on time to complete a task depending on how a human operator interacts with a mobile-robot. Interaction is investigated using two tele-operated mobile-robot systems, three different ways of interacting with robots and several different environments. The speed of a tele-operator in completing progressively more complicated driving tasks is investigated also. Design/methodology/approach -Tele-operators are timed completing a series of tasks using a joystick to control a mobile-robot. They either watch the robot while operating it, or sit at a computer and view scenes remotely on a screen. Cameras are either mounted on the robot, or so that they view both the environment and robot. Tele-operators complete tests both with and without sensors. One robot system uses an umbilical cable and one uses a radio link. Findings -In simple environments, a tele-operator may perform better without a sensor system to assist them but in more complicated environments then a tele-operator may perform better with a sensor system to assist. Tele-operators may also tend to perform better with a radio link than with an umbilical connection. Tele-operators sometimes perform better with a camera mounted on the robot compared with pre-mounted cameras observing the environment (but that depends on tasks being performed). Research limitations/implications -Tele-operated systems rely heavily on visual feedback and experienced operators. This paper investigates how to make tasks easier. Practical implications -The paper suggests that the amount of sensor support should be varied depending on circumstances. Originality/value -Results show that human tele-operators perform better without the assistance of a sensor systems in simple environments.

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Section: Sensor Systemmentioning

confidence: 99%

Comparing speed to complete progressively more difficult mobile robot paths between human tele‐operators and humans with sensor‐systems to assist

Sanders

2009

Assembly Automation

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“…Potential applications for mobile-robots range from maintenance 6 , cleaning 7 , service 8,9 , nuclear [10][11][12] , search and rescue [13][14][15] , security 16 , rescue 13,15,17,18 , automated mapping and surveillance 19 , space exploration 20 , inspection 6,11,12,[21][22][23][24][25] , mine clearance 26,27 and underground exploration 28 . Many types of unmanned vehicles do these jobs, including boats 29,30 , aircraft [30][31][32] and surface vehicles [32][33][34][35] .…”

Section: Introductionmentioning

confidence: 99%

“…Potential applications for mobile-robots range from maintenance (Sanders et al, 2010a), cleaning (Akinfiev et al, 2009), service (Ha et al, 2008;Luk et al, 2005), nuclear (Sands, 2006;Luk et al, 2006a, b), search and rescue (Molfino et al, 2007;Sanders, 2010;Wang and Hong, 2007), security (Carnegie and Cordes, 2004), rescue (Molfino et al, 2007;Wang and Hong, 2007;Sanders, 2009b;Rimassa et al, 2009), The current issue and full text archive of this journal is available at www.emeraldinsight.com/0260-2288.htm automated mapping and surveillance (Milella et al, 2008), space exploration (Anon., 2008), inspection (Sanders et al, 2010a, c;Luk et al, 2006a, b;Hillenbrand et al, 2008;Sattar et al, 2009;Sanders, 2009;Distante et al, 2009), mine clearance (Cobano et al, 2008;Kececi, 2009) and underground exploration (Omori et al, 2009). Many types of unmanned vehicles do these jobs, including boats (Sun and Cheah, 2009;Honary et al, 2009), aircraft (Honary et al, 2009;Lok, 2005;Bloss, 2007) and surface vehicles (Bloss, 2007(Bloss, , 2009Sanders and Stott, 2011;Waheed and Fotouhi, 2009).…”

Section: Introductionmentioning

confidence: 99%

Simple expert systems to improve an ultrasonic sensor‐system for a tele‐operated mobile‐robot

et al. 2011

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Time taken to complete a tele-operated task with a mobile-robot partly depends on how a human operator interacts with the mobile-robot. Current tele-operated systems tend to rely heavily on visual feedback and experienced operators and this paper investigates how to make their tasks easier using an expert system to interpret joystick and sensor data. Simple expert systems improve that interaction for a tele-operated mobile-robot using ultrasonic sensors. Systems identify potentially hazardous situations and recommend safe courses of action. Results are presented from a series of timed tasks completed by tele-operators using a joystick to control a mobile-robot via an umbilical cable and watching the robot while operating it or sitting at a computer and viewing the area ahead of the robot. Tele-operators completed tests both with and without sensors and using the recently published systems to compare results. The new systems described here consistently performed tasks more quickly than some recently published systems. The paper also suggests that the amount of sensor support should be varied depending on circumstances.

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“…Wheeled vehicles are considered in this paper because they are still the main mechanisms for moving over ground (Nakamura and Satoh, 2008) despite finding it difficult to move freely over some terrain. Mobile‐robots and unmanned vehicles are being increasingly used (and considered for future use) in nuclear plants (Luk et al , 2006a), for search and rescue (Kapoor and Tesar, 2006; Marques et al , 2007; Molfino et al , 2007; Wang and Hong, 2007), security (Carnegie and Cordes, 2004; Carnegie et al , 2004) and inspection (Karla and Jason, 2007).…”

Section: Introductionmentioning

confidence: 99%

Analysis of the effects of time delays on the teleoperation of a mobile robot in various modes of operation

Sanders

2009

Industrial Robot: An International Journal

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The effect of time delay on the ability of a human operator to complete a task with a tele-operated mobile-robot is investigated using two systems, two different ways of interacting with the mobile-robots and several different environments. Design/methodology/approach: Tele-operators were observed completing a series of tasks using a joystick to control a mobile-robot while time delays were introduced to the system. They sat at a computer and viewed scenes remotely on a screen. Cameras were either mounted on the robot or mounted externally so that they viewed both the environment and robot. Tele-operators completed the tests both with and without sensors. One robot system used an Umbilical Cable and one used a radio link. Findings: In simple environments, a tele-operator may perform better without a sensor system to assist them but as time delays were introduced then there were more failures. In more complicated environments or when time delays were longer then teleoperators performed better with a sensor system to assist. Tele-operators may also tend to perform better with a radio link than with an umbilical connection. Research limitations/implications: Tele-operated systems rely heavily on visual feedback and experienced operators. This paper investigates the effect of introducing a delay to the delivery of that visual feedback. Practical implications: The paper suggests that in simple environments with short time delays then the amount of sensor support should be small but in more complicated environments or with longer delays then more sensor support needs to be provided. Originality/value: Results from imposing time delays on a tele-operated mobile-robot are presented. Effects on the task of different ways of viewing activity on a computer display are presented, that is with cameras mounted on the robot or cameras mounted externally to view both the environment and robot. Results from using sensors to assist tele-operators are presented. The paper suggests that the amount of sensor support should be varied depending on circumstances.

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The mechanical design and construction of a mobile outdoor multi-terrain robot

Cited by 8 publications

References 3 publications

Comparing speed to complete progressively more difficult mobile robot paths between human tele‐operators and humans with sensor‐systems to assist

Comparing speed to complete progressively more difficult mobile robot paths between human tele‐operators and humans with sensor‐systems to assist

Simple expert systems to improve an ultrasonic sensor‐system for a tele‐operated mobile‐robot

Analysis of the effects of time delays on the teleoperation of a mobile robot in various modes of operation

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