Scheduled System Maintenance:
On Monday, April 27th, IEEE Xplore will undergo scheduled maintenance from 1:00 PM - 3:00 PM ET (17:00 - 19:00 UTC). No interruption in service is anticipated.
By Topic

Robotics & Automation Magazine, IEEE

Issue 1 • Date Mar 1995

Filter Results

Displaying Results 1 - 5 of 5
  • Autonomous hazardous waste drum inspection vehicle

    Publication Year: 1995 , Page(s): 6 - 17
    Cited by:  Papers (6)  |  Patents (1)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1356 KB)  

    Hundreds of thousands of hazardous, radioactive, and mixed waste drums are being stored throughout the world, and the anticipated decommissioning of facilities will generate many more drums. Currently, in compliance with federal regulations, waste storage facilities at U.S. Department of Energy (DOE) sites are inspected manually for degradation and to verify inventories. An Intelligent Mobile Sensing System (IMSS) has been developed for the automated inspection of radioactive and hazardous waste storage containers in warehouse facilities at DOE sites. The IMSS will reduce the risk of exposure to personnel and create accurate, high-quality inspection reports to ensure regulatory compliance. The IMSS includes an autonomous robotic device with enhanced intelligence and maneuverability, capable of conducting routine multisensor inspection of stored waste drums View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Development of the Omni Directional Intelligent Navigator

    Publication Year: 1995 , Page(s): 44 - 53
    Cited by:  Papers (27)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (864 KB)  

    The Autonomous Systems Laboratory is in the midst of developing an advanced underwater robotic technology test platform. The platform consists of the Omni-Directional Intelligent Navigator (ODIN) and the Integrated Graphic Workstation (IGW). ODIN is a six degree-of-freedom (dof) underwater vehicle with dual operational modes (autonomous and tethered) and a single dof mechanical manipulator. IGW is a real-time, 3-dimensional graphic monitoring, testing, and evaluation workstation. This paper presents ODIN's mechanical and electrical specifications; its vehicle dynamics and depth control system; its recent simulation and experimental results; and IGW's specifications View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Mobile robot navigation using the range-weighted Hough transform

    Publication Year: 1995 , Page(s): 18 - 26
    Cited by:  Papers (38)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (932 KB)  

    Accurate navigation of a mobile robot in cluttered rooms using a range-measuring laser as a sensor has been achieved. To extract the directions and distances to the walls of the room the range-weighted Hough transform is used. The following experimental results are emphasized: The robot extracts the walls of the surrounding room from the range measurements. The distances between parallel walls are estimated with a standard deviation smaller than 1 cm. It is possible to navigate the robot along any preselected trajectory in the room. One special case is navigation through an open door detected by the laser. The accuracy of the passage is 1 cm at a speed of 0.5 m/s. The trajectory is perpendicular to the wall within 0.5 degrees in angle. When navigating through corridors, the accuracy is better than 1 cm at 0.8 m/s-the maximum speed of the robot. Odometric data and laser measurements are combined using the extended Kalman filter. The size of the cluttered rectangular room and the position and orientation (pose) of the robot are estimated during motion. The extraction and the resulting navigation are very robust against both spurious measurements in the laser measurements and disturbing objects View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Closed loop steering of unicycle like vehicles via Lyapunov techniques

    Publication Year: 1995 , Page(s): 27 - 35
    Cited by:  Papers (148)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (728 KB)  

    With a special choice for the system state equations, the use of the simplest quadratic form as candidate Lyapunov function directly leads to the definition of very simple, smooth and effective closed loop control laws for unicycle-like vehicles, suitable to be used for steering, path following, and navigation. The authors provide simulation examples to show the effectiveness and, in a sense, the “natural behavior” of the obtained closed loop motions (when compared with everyday driving experience) View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Design of the “army-ant” cooperative lifting robot

    Publication Year: 1995 , Page(s): 36 - 43
    Cited by:  Papers (7)  |  Patents (1)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (848 KB)  

    This paper describes the design and development of a new class of mobile robot. These small robots are intended to be simple and inexpensive, and will all be physically identical, thus constituting a homogeneous team of robots. They derive their usefulness from their group actions, performing physical tasks and making cooperative decisions as a coordinated team. All mechanical and electrical design aspects are decided with the group-dynamical behavior in mind. Because of their behavioral resemblance to their insect counterparts, they have been named "army ant" robots View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.

Aims & Scope

IEEE Robotics and Automation Magazine is a unique technology publication which is peer-reviewed, readable and substantive.  The Magazine is a forum for articles which fall between the academic and theoretical orientation of scholarly journals and vendor sponsored trade publications.

Full Aims & Scope

Meet Our Editors

Editor-in-Chief
Eugenio Guglielmelli
Laboratory of Biomedical Robotics
      and Biomicrosystems
Universita' Campus Bio-Medico
      di Roma