Practical Field Robotics E-Book

Robert H. Sturges

• Herausgeber: John Wiley & Sons
• Kategorie: Wissenschaft und neue Technologien
• Sprache: Englisch

Seitenzahl: 311

Veröffentlichungsjahr: 2014

Beschreibung

Practical Field Robotics: A Systems Approach is an introductory book in the area of field robotics.  It approaches the subject with a systems design methodology, showing the reader every important decision made in the process of planning, designing, making and testing a field robot. 

Key features:

• Takes a practical approach to field robotics, presenting the design and implementation of a robot from start to end
• Provides multiple robot examples including those used in in nuclear service, underground coal mining and mowing
• Bridges the gap between existing mathematically based texts and the real work that goes on in  research labs all over the world
• Establishes a structured approach to thinking about hardware and software design
• Includes problems and is accompanied by a website providing supporting videos and additional problems

Leseprobe

CONTENTS

Cover

Title page

Copyright page

Preface

1 Overview of Field Robotics

1.1 Introduction

1.2 Methodology

1.3 High-Level Decisions

Problems

Notes

2 A Mobile Robot System for Nuclear Service

2.1 Field Environment: Commercial Nuclear Plants

2.2 Field Work: Component Maintenance

2.3 Equipment Requirements

2.4 Conceptual and Operational Designs

2.5 Safety and Reliability

2.6 Detail Designs of the Service Arm

2.7 Detail Designs of the Walker

2.8 Conclusion

Problems

Notes

3 The Largest Mobile Robot in the World

3.1 Field Environment: Underground Mining

3.2 Field Work: Continuous Coal Haulage

3.3 Equipment Requirements

3.4 Conceptual and Operational Designs

3.5 Safety and Reliability

3.6 Detail Conceptual Designs

3.7 Conclusion

Problems

Note

4 A Mobile Robot for Mowing a Lawn

4.1 Field Environment: Suburban Lawns

4.2 Field Work: Navigation and Mowing

4.3 Equipment Requirements

4.4 Conceptual and Operational Designs

4.5 Safety and Reliability

4.6 Detail Conceptual Designs

4.7 High-Level Decisions

4.8 Conceptual Design—Technologies

4.9 Conceptual Design—Set Parameters

4.10 Conceptual Design—Operate Robot

Problems

Notes

5 The Next Levelsof Functional Detail

5.1 Quantifying Conceptual Design

5.2 Quantifying

Send Sound

5.3 Quantifying

Receive Sound

5.4 Quantifying

Interpret Sound

5.5 Design Choices—Setting Parameters

5.6

Select

 a 

Platform

5.7

Select Frequencies

5.8

Select Motions

Problems

Notes

6 Operate Robot

6.1

Control System

6.2

Control System Select Operation

6.3 All About

main()

6.4

Control System

—

Control Motions

6.5

Control Motions

—

Rotate Motors

6.6

Control Motions

—

Design Infrastructure

6.7

Control Motions

—

Program Speeds

6.8

Control Motions

—

Move Robot

6.9

Control Motions

—

Sequence Motions

6.10

Control Information

Problems

Notes

7 Software Functions

7.1 Displays: To Place Needed Information to the User Screen

7.2 Field Data and Triangulation: Geometric Locating Functions

7.3 Operation: The Calls that Make the Robot Move and Stop

7.4 History and Diagnostics: The Immediate Past Used for Analysis

Problems

Note

Appendix A: Myth and Creativity in Conceptual Design

A.1 Introduction

A.2 Analysis of the Value Process

A.3 Examples

A.4 Discussion and Conclusion

Notes

Appendix B: Real-World Automation Control through the USB Interface

B.1 Introduction

B.2 Objective

B.3 Approach

B.4 Details of Implementation

B.5 Results

B.6 Conclusion

Notes

Appendix C: Microchip Code for USB Board to PPM Translation

Appendix D: Selected Electronic Parts for Mowing Robot

Appendix E: Software Concordance

Appendix F: Solutions

Chapter 1

Chapter 2

Chapter 3

Chapter 4

Chapter 5

Chapter 6

Chapter 7

Notes

Index

Access to Companion Site

End User License Agreement

List of Tables

Chapter 04

Table 4.1 Selected technologies for robot localization

Table 4.2 Computer languages, platforms, and vendors

a

Appendix A

Table a1.1 Error-related functions and allocations for the VuMan wearable computer

List of Illustrations

Chapter 01

Figure 1.1 The beginning of the FBD for a practical field robot for nuclear service

Chapter 02

Figure 2.1 A portion of a tubesheet model with 20 mm diameter tube ends

Figure 2.2 Arm deployed in channel head

Figure 2.3 Walker deployed on tubesheet of steam generator

Figure 2.4 Arm installation track in a model channel head

Figure 2.5 The second portion of the FBD for the robot pair

Figure 2.6 The third portion of the FBD for the robot pair

Figure 2.7 Geometric constraints at the edges of the tubesheet

Figure 2.8 Separated portions of the arm: (a) part 1; (b) part 2; and (c) part 4

Figure 2.9 The fully assembled arm

Figure 2.10 The arm handing-off an inspection tool to the walker

Figure 2.11 Schematic of the service system