Robot-in-the-loop Simulation to Support Multi-robot System Development PDF Download

Author: Ehsan Azarnasab
Publisher:
ISBN:
Category : Engineering design
Languages : en
Pages :

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Book Description
Modeling and simulation provides a powerful technology for engineers and managers to understand, design, and evaluate a system under development. Traditionally, simulation is only used in early stages of a system design. However, with the advances of hardware and software technology, it is now possible to extend simulation to late stages for supporting a full life cycle simulation-based development. Robot-in-the-loop simulation, where real robots work together with virtual ones, has been developed to support such a development process to bridge the gap between simulation and reality.

Author: Katalin Popovici
Publisher: CRC Press
ISBN: 1351833391
Category : Technology & Engineering
Languages : en
Pages : 663

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Book Description
Real-Time Simulation Technologies: Principles, Methodologies, and Applications is an edited compilation of work that explores fundamental concepts and basic techniques of real-time simulation for complex and diverse systems across a broad spectrum. Useful for both new entrants and experienced experts in the field, this book integrates coverage of detailed theory, acclaimed methodological approaches, entrenched technologies, and high-value applications of real-time simulation—all from the unique perspectives of renowned international contributors. Because it offers an accurate and otherwise unattainable assessment of how a system will behave over a particular time frame, real-time simulation is increasingly critical to the optimization of dynamic processes and adaptive systems in a variety of enterprises. These range in scope from the maintenance of the national power grid, to space exploration, to the development of virtual reality programs and cyber-physical systems. This book outlines how, for these and other undertakings, engineers must assimilate real-time data with computational tools for rapid decision making under uncertainty. Clarifying the central concepts behind real-time simulation tools and techniques, this one-of-a-kind resource: Discusses the state of the art, important challenges, and high-impact developments in simulation technologies Provides a basis for the study of real-time simulation as a fundamental and foundational technology Helps readers develop and refine principles that are applicable across a wide variety of application domains As science moves toward more advanced technologies, unconventional design approaches, and unproven regions of the design space, simulation tools are increasingly critical to successful design and operation of technical systems in a growing number of application domains. This must-have resource presents detailed coverage of real-time simulation for system design, parallel and distributed simulations, industry tools, and a large set of applications.

Author: Héctor A. Moreno
Publisher: Springer Nature
ISBN: 3030900339
Category : Technology & Engineering
Languages : en
Pages : 290

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Book Description
This book gathers the proceedings of the 3rd Latin American Congress on Automation and Robotics, held at Monterrey, Mexico, on November 17–19, 2021. This book presents recent advances in the modeling, design, control, and development of autonomous and robotic systems and explores current exciting applications and future challenges of these technologies. The scope of this book covers a wide range of research fields associated with automation and robotics encountered within engineering, scientific research, and practice. These topics are related to autonomous systems, industrial automation and robotics, modelling and systems identification, simulation procedures and experimental validations, control theory, artificial intelligence, computer vision, sensing and sensor fusion, multi-robot and multi-agent systems, field and service robotics, human robot interaction and interfaces, modelling of robotic systems, and the design of new robotic platforms.

Author: Senthil Kumar J
Publisher:
ISBN:
Category : Technology & Engineering
Languages : en
Pages : 0

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Book Description
Robotic systems used in industries and other complex applications need huge investment, and testing of them under robust conditions are highly challenging. Controlling and testing of such systems can be done with ease with the support of hardware-in-the-loop (HIL) simulation technique and it saves lot of time and resources. The chapter deals on the various interaction methods of robotic systems with physical environments using tactile, force, and vision sensors. It also discusses about the usage of hardware-in-the-loop technique for testing of grasp and task control algorithms in the model of robotic systems. The chapter also elaborates on usage of hardware and software platforms for implementing the control algorithms for performing physical interaction. Finally, the chapter summarizes with the case study of HIL implementation of the control algorithms in Texas Instruments (TI) C2000 microcontroller, interacting with model of Kuka,Äôs youBot Mobile Manipulator. The mathematical model is developed using MATLAB software and the virtual animation setup of the robot is developed using the Virtual Robot Experimentation Platform (V-REP) robot simulator. By actuating the Kuka,Äôs youBot mobile manipulator in the V-REP tool, it is observed to produce a tracking accuracy of 92% for physical interaction and object handling tasks.

Author: Alan C. Schultz
Publisher: Springer Science & Business Media
ISBN: 9401723761
Category : Computers
Languages : en
Pages : 227

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Book Description
In March 2002, the Naval Research Laboratory brought together leading researchers and government sponsors for a three-day workshop in Washington, D.C. on Multi-Robot Systems. The workshop began with presentations by various government program managers describing application areas and programs with an interest in multi robot systems. Government representatives were on hand from the Office of Naval Research, the Air Force, the Army Research Lab, the National Aeronau tics and Space Administration, and the Defense Advanced Research Projects Agency. Top researchers then presented their current activities in the areas of multi robot systems and human-robot interaction. The first two days of the workshop of1ocalizatio~. concentrated on multi-robot control issues, including the topics mapping, and navigation; distributed surveillance; manipulation; coordination and formations; and sensors and hardware. The third day was focused on hu man interactions with multi-robot teams. All presentations were given in a single-track workshop format. This proceedings documents the work presented by these researchers at the workshop. The invited presentations were followed by panel discussions, in which all participants interacted to highlight the challenges of this field and to develop possible solutions. In addition to the invited research talks, students were given an opportunity to present their work at poster sessions.

Author: Ali Turan
Publisher:
ISBN:
Category : Client/server computing
Languages : en
Pages : 228

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Book Description
"In this thesis, a novel and remotely accessible hardware-in-the-loop simulator (HILS) is developed for the real-time simulation of a variety of robotic systems for on-site and remote education and research. In that sense, the thesis contributes to the first known application of the HILS concept in the field of robotics and mechatronics that is remotely accessible. The HILS set-up incorporates most of the crucial hardware that takes part in the actual mechatronics/robotics system, thus enabling a more realistic simulation of the dynamics and control than would be possible with computer simulations. Any given robotic configuration can be simulated by using the developed HILS set-up, thus enhancing the flexibility and repertoire of expensive robotics laboratories. Besides the establishment of the hardware/software of the HILS setup, the major contribution of this thesis is the developed communication method between client and server that enables remote users to perform experiments on the HILS setup at the UAF Robotics and Control Laboratory. The main communication code is written in C/C++ with the use of wxWidgets. The protocol used in this study is TCP/IP for the sequential and error-free transmission of data. The MATLAB® Engine is used to establish the link between MATLAB® and the C/C++ code. For data capturing, a code is written in Python® programming language, which is compatible with ControlDesk. Finally, animations are prepared using the V-Realm Builder for the data collected from HILS experimentation. The experimentation results are sent to remote users as mat files, jpeg files and animations. The developed communication method can be used with all systems using MATLAB® Simulink® and is not limited to use with the HILS system only. Several case studies developed remotely (via the use of the internet) are also presented in the thesis as remote lab experiment and animation examples"--Leaf iii.

Author: Ahmad Hoirul Basori
Publisher: BoD – Books on Demand
ISBN: 1789854830
Category : Technology & Engineering
Languages : en
Pages : 156

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Book Description
Nowadays, our expectations of robots have been significantly increases. The robot, which was initially only doing simple jobs, is now expected to be smarter and more dynamic. People want a robot that resembles a human (humanoid) has and has emotional intelligence that can perform action-reaction interactions. This book consists of two sections. The first section focuses on emotional intelligence, while the second section discusses the control of robotics. The contents of the book reveal the outcomes of research conducted by scholars in robotics fields to accommodate needs of society and industry.

Author: Gabriel A. Wainer
Publisher: CRC Press
ISBN: 1351834622
Category : Technology & Engineering
Languages : en
Pages : 431

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Book Description
Collecting the work of the foremost scientists in the field, Discrete-Event Modeling and Simulation: Theory and Applications presents the state of the art in modeling discrete-event systems using the discrete-event system specification (DEVS) approach. It introduces the latest advances, recent extensions of formal techniques, and real-world examples of various applications. The book covers many topics that pertain to several layers of the modeling and simulation architecture. It discusses DEVS model development support and the interaction of DEVS with other methodologies. It describes different forms of simulation supported by DEVS, the use of real-time DEVS simulation, the relationship between DEVS and graph transformation, the influence of DEVS variants on simulation performance, and interoperability and composability with emphasis on DEVS standardization. The text also examines extensions to DEVS, new formalisms, and abstractions of DEVS models as well as the theory and analysis behind real-world system identification and control. To support the generation and search of optimal models of a system, a framework is developed based on the system entity structure and its transformation to DEVS simulation models. In addition, the book explores numerous interesting examples that illustrate the use of DEVS to build successful applications, including optical network-on-chip, construction/building design, process control, workflow systems, and environmental models. A one-stop resource on advances in DEVS theory, applications, and methodology, this volume offers a sampling of the best research in the area, a broad picture of the DEVS landscape, and trend-setting applications enabled by the DEVS approach. It provides the basis for future research discoveries and encourages the development of new applications.

Author: Ulrich Rückert
Publisher: Springer Science & Business Media
ISBN: 364227482X
Category : Technology & Engineering
Languages : en
Pages : 285

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Book Description
Autonomous robots must carry out useful tasks all by themselves relying entirely on their own perceptions of their environment. The cognitive abilities required for autonomous action are largely independent of robot size, which makes mini robots attractive as artefacts for research, education and entertainment. Autonomous mini robots must be small enough for experimentation on a desktop or a small laboratory. They must be easy to carry and safe for interaction with humans. They must not be expensive. Mini robot designers have to work at the leading edge of technology so that their creations can carry out purposeful autonomic action under these constraints. Since 2001 researchers have met every two years for an international symposium to report on the advances achieved in Autonomous Mini Robots for Research and Edutainment (AMiRE). The AMiRE Symposium is a single track conference that offers ample opportunities for discussion and exchange of ideas. This volume contains the contributed papers of the 2011 AMiRE Symposium held from 23 to 25 May 2011 at Bielefeld University, Germany. The contributions in this volume represent the state-of-the-art of autonomous mini robots; they demonstrate what is currently technically feasible and show some of the applications for autonomous mini robots.

Author: Adelinde M. Uhrmacher
Publisher: CRC Press
ISBN: 1351834673
Category : Computers
Languages : en
Pages : 632

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Book Description
Methodological Guidelines for Modeling and Developing MAS-Based Simulations The intersection of agents, modeling, simulation, and application domains has been the subject of active research for over two decades. Although agents and simulation have been used effectively in a variety of application domains, much of the supporting research remains scattered in the literature, too often leaving scientists to develop multi-agent system (MAS) models and simulations from scratch. Multi-Agent Systems: Simulation and Applications provides an overdue review of the wide ranging facets of MAS simulation, including methodological and application-oriented guidelines. This comprehensive resource reviews two decades of research in the intersection of MAS, simulation, and different application domains. It provides scientists and developers with disciplined engineering approaches to modeling and developing MAS-based simulations. After providing an overview of the field’s history and its basic principles, as well as cataloging the various simulation engines for MAS, the book devotes three sections to current and emerging approaches and applications. Simulation for MAS — explains simulation support for agent decision making, the use of simulation for the design of self-organizing systems, the role of software architecture in simulating MAS, and the use of simulation for studying learning and stigmergic interaction. MAS for Simulation — discusses an agent-based framework for symbiotic simulation, the use of country databases and expert systems for agent-based modeling of social systems, crowd-behavior modeling, agent-based modeling and simulation of adult stem cells, and agents for traffic simulation. Tools — presents a number of representative platforms and tools for MAS and simulation, including Jason, James II, SeSAm, and RoboCup Rescue. Complete with over 200 figures and formulas, this reference book provides the necessary overview of experiences with MAS simulation and the tools needed to exploit simulation in MAS for future research in a vast array of applications including home security, computational systems biology, and traffic management.