Development of a Control System for a Tele Operated Mobile Robot

Mobile robots are capable of performing spatial displacement motions in different environments. This motions can be calculated based on sensorial data (autonomous robot) or given by an operator (tele operated robot). This thesis is focused on the latter providing the control architecture which bridges the tele operator and the robot’s locomotion system and end effectors. Such a task might prove overwhelming in cases where the robot comprises a wide variety of sensors and actuators hence a relatively new option was selected: Robot Operating System (ROS). The control system of a new robot will be sketched and tested in a simulation model using ROS together with Gazebo in order to determine the viability of such a system. The simulated model will be based on the projected shape and main features of the real machine. A stability analysis will be performed first theoretically and afterwards using the developed model. This thesis concluded that both the physical properties and the control architecture are feasible and stable settling up the ground for further work with the same robot.

Quadcopter assistant for a mobile assembly robot

Science has revolutionized the human life. The advance progress in science and research is making human life easier and more comfortable. The new and emerging technology of micro drone is penetrating and widening the scientific research. This thesis is a part of work in which a unique work is carried out, although related research paper and journal are available. Design and development of automatic charging station for a ready to fly quadcopter is rare and unusual work. The work is carried out as an standard engineering process that include requirements gathering, creating the required document (this thesis is a part of required document as well), selection of suitable hardware, configuring the hardware, generate the code for software, uploading code to the microcontroller, troubleshooting and rectification, finalized prototype and testing. Thesis describe how mechatronics engineering is useful in generating a customized and unique project. At the starting phase of this project (before purchasing a ready to fly quadcopter) every single aspect of this work was known. The only unknown alternatives was a battery and charger. Several task was achieved including design and development of automatic charging station, accurate landing and telecast a live video on additional screen. At starting it was decided that quadcopter should follow the mobile robot, during study it was concluded there is no such quadcopter available in market to auto follow a robot indoor. This works starts with a market survey and comparing the different brands of quadcopter that meets all the requirements and specifications of the mobile robot assembly. Selection of quadcopter is a result of discussion and meeting with the team members, supervisor, professor and project manage.

Design of traction transmission and suspension systems for an omni-directional mobile robot

This project aims to design and manufacture a mobile robot with two Universal Robot UR10 mainly used indoors. In order to obtain omni-directional maneuverability, the mobile robot is constructed with Mecanum wheels. The Mecanum wheel can move in any direction with a series of rollers attached to itself. These rollers are angled at 45º about the hub’s circumference. This type of wheels can be used in both driving and steering with their any-direction property. This paper is focused on the design of traction system and suspension system, and the velocity control of Mecanum wheels in the close-loop control system. The mechanical design includes selection of bearing housing, couplers which are act as connection between shafts, motor parts, and other needed components. The 3D design software SolidWorks is utilized to assemble all the components in order to get correct tolerance. The driving shaft is designed based on assembled structure via the software as well. The design of suspension system is to compensate the assembly error of Mecanum wheels to guarantee the stability of the robot. The control system of motor drivers is realized through the Robot Operating System (ROS) on Ubuntu Linux. The purpose of inverse kinematics is to obtain the relationship among the movements of all Mecanum wheels. Via programming and interacting with the computer, the robot could move with required speed and direction.

Control of a line robot system with Embedded Linux

Many, if not all, aspects of our everyday lives are related to computers and control. Microprocessors and wireless communications are involved in our lives. Embedded systems are an attracting field because they combine three key factors, small size, low power consumption and high computing capabilities. The aim of this thesis is to study how Linux communicates with the hardware, to answer the question if it is possible to use an operating system like Debian for embedded systems and finally, to build a Mechatronic real time application. In the thesis a presentation of Linux and the Xenomai real time patch is given, the bootloader and communication with the hardware is analyzed. BeagleBone the evaluation board is presented along with the application project consisted of a robot cart with a driver circuit, a line sensor reading a black line and two Xbee antennas. It makes use of Xenomai threads, the real time kernel. According to the obtained results, Linux is able to operate as a real time operating system. The issue of future research is the area of embedded Linux is also discussed.

Dr Brasilia and Mr. Nacala: the apparent duality behind the Brazilian state-capital nexus

In August 2010 Brazil decided to limit foreign direct investments (FDIs) in land, and attracted the attention of politicians as much as the fears of businessmen. However, few months before, in September 2009, it had concluded a trilateral agreement with Japan and Mozambique to implement agribusiness and contract farming on an area of ten million hectares in the Mozambican region of Nacala. In light of that, the paper analyses the apparent duality of the Brazilian politics, and concludes that, exactly like in the case of the novel by Robert Louis Stevenson, it is not a matter of pathology, but a voluntarily induced double personality which is strategic in positioning Brazil at the core of the global capitalist system.

Design and implementation of machine vision system for the mobile assembly robot

The review of intelligent machines shows that the demand for new ways of helping people in perception of the real world is becoming higher and higher every year. This thesis provides information about design and implementation of machine vision for mobile assembly robot. The work has been done as a part of LUT project in Laboratory of Intelligent Machines. The aim of this work is to create a working vision system. The qualitative and quantitative research were done to complete this task. In the first part, the author presents the theoretical background of such things as digital camera work principles, wireless transmission basics, creation of live stream, methods used for pattern recognition. Formulas, dependencies and previous research related to the topic are shown. In the second part, the equipment used for the project is described. There is information about the brands, models, capabilities and also requirements needed for implementation. Although, the author gives a description of LabVIEW software, its add-ons and OpenCV which are used in the project. Furthermore, one can find results in further section of considered thesis. They mainly represented by screenshots from cameras, working station and photos of the system. The key result of this thesis is vision system created for the needs of mobile assembly robot. Therefore, it is possible to see graphically what was done on examples. Future research in this field includes optimization of the pattern recognition algorithm. This will give less response time for recognizing objects. Presented by author system can be used also for further activities which include artificial intelligence usage.

Tenojoen pääuoman habitaattien määrä ja merkitys lohen (Salmo salar) poikastuotannolle

Atlantin lohen (Salmo salar) kannanhoidollisia toimenpiteitä varten vaaditaan tietoa lisääntymisjoissa olevien habitaattien määrästä ja laadusta. Tässä tutkielmassa selvitettiin Tenojoen pääuoman erilaisten habitaattien määrää ja niiden merkitystä lohen poikashabitaatteina. Tenojoen pääuoma kartoitettiin lohen habitaattien kartoitukseen kehitetyllä mesohabitaatti-luokittelulla, jossa joki kartoitetaan havainnoimalla sen hydromorfologisia piirteitä, virtausnopeutta, syvyyttä ja pohjan raekokoa. Lisäksi mitattiin suojakolojen määrää ja syvyysluokkaa erilaisilla substraateilla, ja tämän perusteella arvioitiin pohjan raekoon vaikutusta suojakolojen määriin ja syvyyteen. Lohenpoikasten esiintyvyyttä erilaisilla mesohabitaateilla, syvyyksillä ja substraateilla selvitettiin koekalastamalla laajoja alueita erityisvalmisteisella sähkökoekalastusveneellä. Raekoon, syvyyden ja suojakolojen vaikutusta lohenpoikastiheyksiin testattiin lisäksi tilastollisin menetelmin käyttämällä Luonnonvarakeskuksen tekemiä sähkökoekalastuksia. Mesohabitaattikartoituksen ja veneellä tehtyjen sähkökoekalastuksien aikana virtaama Tenojoessa oli lähellä vuosittaista minimiä. Mesohabitaattikartoituksesta selvisi, että Tenojoesta valtaosa (67 %) kuului hiekkapohjaiseen ja >50 cm/s virtaavaan mesohabitaattiin. Veneellä tehdyissä sähkökoekalastuksissa näiltä hiekka-alueilta saatiin vain vähäisiä määriä lohenpoikasia, ja nekin rantavyöhykkeiltä, joilla oli kivien ja lohkareiden muodostamia suojapaikkoja. Noin 32 % Tenojoesta on pienen virtaaman aikana lohen poikashabitaattina merkittäviä, nivamaisia tai koskimaisia alueita, jotka voidaan luokitella syvyyden ja virtausnopeuden mukaan eri mesohabitaattiluokkiin. Suojakolomittauksien perusteella vallitseva raekoko vaikuttaa merkitsevästi suojakolojen määrään ja syvyyteen. Kesän vanhat (0+) ja vanhemmat (>0+) poikaset suosivat eri syvyisiä suojakoloja, ja etenkin >0+ poikasten määrä ja >10 cm syvien suojakolojen määrän välillä oli voimakas positiivinen korrelaatio (p = 0,01). Ympäristöparametrien (syvyys, virtausnopeus ja raekoko) ja poikastiheyksien välinen suhde vastasi hyvin aiempia tutkimuksia, mutta sekä kesän vanhoja (0+) ja vanhempia (>0+) poikasia havaittiin aikaisempien tutkimuksien preferenssiarvoja syvemmillä alueilla. Veneellä tehdyissä sähkökoekalastuksissa havaittiin suurempia poikastiheyksiä rannanläheisillä linjoilla verrattuna joen keskellä tehtyihin koekalastuslinjoihin, kun vertailtiin habitaattiolosuhteiltaan samankaltaisia linjoja, jotka olivat ainakin osittain joen pituussuunnassa päällekkäin.

Mr [James Henry] Thomas quittant Downing Street [secrétaire général de la NUR, National Union of Railwaymen] : [photographie de presse] / [Agence Rol]

Référence bibliographique : Rol, 56198

Mr [James] O'Grady arrivant à Caxton Hall [membre du Parlement anglais et secrétaire de la National Federation of General Workers] : [photographie de presse] / [Agence Rol]

Référence bibliographique : Rol, 56233

Grève des cheminots anglais, Mr Arthur Henderson [secrétaire du Labor party] quittant Caxton Hall : [photographie de presse] / [Agence Rol]

Référence bibliographique : Rol, 56234