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This selected topic is the sub-topic of the first Ministry of Science and Industrial Technology Innovation Alliance Item and Tianjin Science and Technology Projects. This paper introduces alkali concentration intelligent online detection and automatic control system.


Design and implementation of hardware and software systems are also detailedly described. The paper's innovation about the project is design of the alkali concentration measuring device and the liquid level control system and selection of control process.

European academic researchers have developed a constellation of robust, lightweight flying robots using wireless communications that could be employed in mapping, remote sensing, ground searches, and other similar operations.



The robots consist of a flying-wing airframe, with neither fuselage nor tail. They are propelled by a single electric motor running on a battery capable of 30 minutes.


The aircraft have an 80-centimeter wingspan, weigh about 500 grams, and are built with inexpensive, lightweight yet strong polypropylene foam. Their airspeeds can range between 8 and 20 meters per second (between 18 and 45 miles per hour), and they can fly as high as several kilometers, although a swarm generally stays below 150 meters to avoid conflicts with general aviation.

This research work is related to the application of machine vision technique to develop a robust intelligent wheelchair control system based on hand gesture recognition for those with physical accessibility problem. In this paper, Haar-like features and the AdaBoost learning algorithm are used for hand gesture detection. By comparing the center of the minimum rectangle which contains the hand gesture with a fixed area, the hand gesture commands are determined correspondingly. With this algorithm, real-time performance and high recognition accuracy can be obtained.

A robotic liquid handling system is developed for dispensing highly viscous reagent with nanoliter volumes. The robot in question is of immediate need in protein crystallization research and in electronics packaging field. In this paper, the system structure is introduced which mainly consists of three modules: motion control module, dispense control module and droplet volume measure module. Highly viscous reagent can be dispensed in nanoliter through controlling the dispense control module and the motion control module correctly, and the volume of micro-drop can be measured based on robotic vision technique. The factors that influence the successful delivery of nanoliter volumes of highly viscous reagent are discussed through analysis of the dispensing process. And the two critical values that the dispense height should be kept are derived.

In the present paper the authors tried to explore how a radio frequency controlled robot can be used in defense and in real war field. The military robot will be able to substitute the real human soldier in the battle field. The authors have tried to explore how a military robot will function.

The military robot has a two barrel gun turret through which bullets can be fired. It has two cameras in synchronization with the turret which can rotate up and down, left and right up to a safe firing limit. Both the gun turret and the cameras are enclosed within a hemispherical shell which serves as a shield and assists and enables their motion. The robot vehicle can move like a tank, turning to any angle on its axis, moving forward and reverse turning left and right, running instantly into reverse direction using the same steering mechanism as present in tanks. The robot is radio operated, self powered, has back tracking facility, in case of loss of connection from the base station. A pair of guns has been installed on it, so that it can fire on enemies remotely when required. To aim the guns and view the road and the surroundings in which the robot is traveling, wireless cameras are installed on different sides of the robot for different vantage points.

Wireless cameras will send back real time video and audio inputs which can be seen on a remote monitor in the base station from where the robot is being controlled and action can be taken accordingly. The robot can be controlled from a base station by means of radio frequency. It also has the ability to re-establish contact with the base station in case of a signal failure by retracing its path back for some distance. It can silently enter into an enemy area and send us all the information through its camera eyes.

It is designed for fighting, reconnaissance as well as suicide attacks under certain circumstances.

As one of the largest coal production and consumption countries in the world, China is also one of the related accidents occurred frequently countries such as gas explosion, flood, breaking out of fire during the exploitation of coal mine. Coal Mine Detection Robot can be substituted or partial substituted for emergency workers to enter the mine shaft disaster site and detect hazardous gas and do some environmental exploration and surveying task. Coal Mine Detection Robot uses infra-red spectrum absorption way to detect methane, carbon monoxide and such gas simultaneously. The principle of gas survey meter of infra-red spectrum is according to the selectively absorption of infrared radiation by the mash gas, CO to achieve the detection of their concentration. The advantages of this kind of hazardous gas detecting are: simultaneously and rapidly detecting methane, CO and high sensitivity, good selectivity and fast response. Otherwise, it is easy to be taken by robot due to its simple and light structure, have a lager detection range and probe is not easy failure to be poisoning and aging.

This paper presents the design and characteristics of a five-fingered haptic interface robot named HIRO III. The aim of the development of HIRO III is to provide a high-precision three-directional force at the five human fingertips. HIRO III consists of a 15-degrees-of-freedom (DOF) haptic hand, a 6-DOF interface arm, and a control system. The haptic interface, which consists of a robot arm and hand, can be used in a large workspace and can provide multipoint contact between the user and a virtual environment.

However, the following problems peculiar to a multi-DOF robot have arisen: a large amount of friction, a backlash, and the presence of many wires for many motors and sensors. To solve these problems, a new mechanism and a wire-saving control system have been designed and developed. Furthermore, several experiments have been carried out to investigate the performance of HIRO III.

A mobile robot's ability to rapidly and accurately measure variables in its external environment is vital to its ability to function in that environment. A variety of sensors are available to provide a robot with such information but typically have a trade-off between update rate, accuracy and field of view.


Full-field range imaging, where every object in the sensor's field of view is ranged, offers both a wide field of view and accurate range measurements at update rates greater than existing sensor technologies with similar accuracy and fields of view.

Large cities are built and designed based on the needs of mobile people, architectural preferences and budgets. Unfortunately, this constitutes a big disadvantaged for those with mobility disabilities. Wheelchair users are regularly hindered by barriers from participating in daily life on their own. The research work presented in this paper solves this problem by providing Easy Wheel, a mobile social navigation and support system for wheelchair users.

Easy Wheel allows them to access accessibility information for all sorts of points of interests (POI)such as public transport, shops, etc and helps them navigate throughout a city while following the ideal route and avoiding all barriers and obstacles. To connect Easy Wheel with the whole community of wheelchair users and helpers, Easy Wheel includes a social community system including reputation and reward features leveraging Face book. This connection enables Easy Wheel to gather currently not available but essential wheelchair accessibility for POIs as well as wheelchair routing information data from all community members using a mobile and/or browser/Face book based Easy Wheel application client.

This paper described an agricultural mobile robot which was refitted by FT4040 tractor. A position calculation method using inner information was proposed, and the tractor straight-line tracking control was researched by fuzzy control theory.

The position and posture of the tractor were calculated using the information which detected by the inner sensors, a fuzzy controller was designed for straight-line tracking control. The lateral offset, heading angle and steering angle were selected as the input variable of the controller, the output variable of the controller was the steering motor speed.


The tractor could be controlled effectively while the information of visual navigation system and GPS navigation system were unstable or missing.

On the base of the analysis on the good and bad points of the potential field realization way plan, the paper proposed evades based on the simulation annealing algorithm entire independent robot bonds the method. The experimental result indicates that, the track speed can satisfy the system real time request very much, and has the high reliability.

Robot soccer has become a hot spot in the field of artificial intelligence and robotics research, it promotes the rise of research and development in the field of multi-agent systems, distributed artificial intelligence and robotics and vision systems. Robot path planning refers to a safe and efficient movement routes that real-time robot reaching the target point are given the robot soccer competition.

In order to improve the backward present rescue technique for small-caliber deep well, a kind of rescue robot is studied, which can hold and grasp the fallen person tightly by using the stretching arm and clasp arm. The virtual prototype is designed to illustrate the rescue course.

Considering the stretching arm of the robot bear the main weight during the rescue work, so we make the stress analyses about the connecting rod joint and supporting bracket joint of the mechanism, moreover, the simulation results of stress distribution about the connecting rod and the stretching arm are also finished, figures show that the robot is competent for enduring the weight caused by the fallen person. Therefore, the design method of the rescue robot is feasible.

Along with the development of society, the remote control of mobile robot has broad prospect of application.

With the continuous development of embedded system, the system provides excellent hardware platform for embedded mobile robot. With embedded WinCE5.0 operating system,

This paper put forward a kind of remote control method of mobile robots. The experiments had proved the embedded mobile robot has low power consumption and strong real-time control. It also had proved the validity of this method.
The mobile robot remote control system has developed so rapidly, besides, it has strong adaptability to environment and excellent ability to adapt, which is suitable for various kinds of situation ,especially those which are not suitable for people to enter, besides ,the execution of the tasks will be well done without people entering, such as the dangerous battlefield military patrol reconnaissance and surveillance, or unmanned area task including biological area task chemical area task and nuclear area task etc.

In this paper we present an algorithm for path planning in a fixed range-only beacon field. We define and calculate entropy values for regions of interest and provide a method for finding "safe," low-entropy paths between regions. We go on to describe a robotic system for performing range-based localization experiments, developed using inexpensive off-the-shelf components. Our system uses a commercial robot as a mobile platform and custom acoustic beacons for ranging.

In this paper we investigate approaches that can allow a mobile robot to exploit information provided by wireless devices already present in the environment. We examine a case in which the robot is assumed to be carrying out a routine task that requires it to navigate arbitrarily between a finite number of specified locations, e.g. for the transporting of goods in a warehouse application.

Under these circumstances, we are interested in identifying safely navigable regions and routes in the instrumented environment that can allow the robot to successfully satisfy the requirements of its task. By safely navigable regions we mean areas where the robot’s pose uncertainty is relatively low.

Wireless communication is applied frequently in laser automatic guided vehicle (AGV) communication system, but at present the system usually adopts the wireless static central control mode in which vehicles of AGV system are controlled and managed by a center control unit and cannot communicate with each other.

An AGV wireless control system based on wireless sensor network and mobile robots control is proposed to improve the intelligence and efficiency of AGV system, with this communication system all the vehicles are connected by wireless sensor network to implement inter-vehicle communication and distributed control, this enhances the degree of autonomy and flexibility of vehicles, and improves the efficiency of AGV system

Underactuated system is a nonholonomic system that has less than the system degrees of freedom controller, light weight, low cost, energy consumption and many other advantages.

This under actuated hexapod bio-robot-RR Robot, the objective is minimizing the energy loss, the use of genetic algorithms and particle swarm optimization RR Robot trajectory planning, simulation results show two algorithms to solve the optimization problem RR Robot trajectory is effective, especially PSO few more iterations, less energy consumption and computation advantages.

In order to achieve remote control of service robots, a wireless intelligent control system is designed by combining radio frequency technology, MCU, ultrasonic sensor technology, image sensors and personal PC. Voice broadcasting, barrier avoiding by ultrasonic technology are realized wirelessly.

Hardware modules and software design are partly given in the paper. Some experiments are carried out to verify the system performance.

The results and the design show that the system has advantages of stability, cost-effective, and easy for function extension and transplantation which leads to a prospect of wide use.

This paper introduces the design and control system of a hexapod walking robot. The robot is developed based on a previous version which is focused on the straight-line walking. To enhance its ability to adapt to the terrain, each leg of it in this paper has three revolute joints driven by 18 RX-64 servomotors. Much more sensors are mounted on the robot as well as special foot point mechanical design applied so as to cope with the unstructured ground. The hierarchical control architecture is proposed to realize the complex kinematic calculation. The Human-Machine Interface allows a human operator to steer and monitor the robot in real time. The ultimate aim of this project is to develop a legged motion platform for the research of a fruit collection robot.

Theories from Network-centric Warfare (NCW) distinguish between network-centric and platform--centric orientations to sensing and control. In platform-centric control the operator(s) access and focus on data through platforms they control, a robot's camera, for example. In network-centric control the operator(s) do not access data through platforms but instead through the network without regard to where information originated. The conventional human role in sophisticated information gathering systems is usually as both commander (of platforms) and perceiver. Human sensory and perceptual capabilities, however, far outstrip our abilities to process information frequently making our perceptual function more critical to the mission. The use of human operators as "perceptual sensors" is standard practice for both UAVs and ground robotics where humans are called upon to "process" camera video to find targets and assist in navigation. This paper traces the evolution of an experimental human-multirobot system for Urban Search and Rescue in which operators navigated robots while searching for victims in streaming video to a network--centric version in which they search recorded video asynchronously.

For many sensing applications Unmanned Aerial Vehicles (UAVs) can provide a lightweight and highly portable solution. Inevitably they may encounter malfunctions, the most serious of which may require the UAV to land as soon as possible. From a safety prospective it is insufficient to assume the UAV can safely reach a previously determined safe landing site.

It is therefore desirable to utilize a reliable source of knowledge such as Geographic Information System (GIS) data to aid in autonomous safe landing site detection. However, before this knowledge can be exploited the UAVs position must be known.

This position is commonly estimated using GPS the failure of which may be the very reason an abort command has been issued. Presented in this paper is a method of UAV position estimation which can be executed in the event of GPS failure.


Preliminary results are presented based on aerial imagery from the Antrim Plateau region of Northern Ireland which indicate potential in the approach used.

This paper describes an indoor cleaning robot coverage path to avoid obstacle based on behavior fuzzy controller under dynamic environment. The robot measures the distance between the robot and obstacle with ultrasonic sensors and infrared range sensors. The behavior architecture has three levels behaviors: emergency behavior, obstacle avoidance behavior, and task oriented behavior.

The task oriented behavior is the highest level behavior with the lowest priority, and has two subtasks: wall following and path covering. The middle level behavior is obstacle avoidance. And the lowest level is an emergency behavior with the highest priority behavior. The simulation results demonstrate that each behavior works correctly.

This paper explores, from a theoretical and technical point of view, the role of head rotation and eye gaze directionality to the human perception of attention from non-verbal cues. We have annotated two different versions of the same dataset, in order to correlate the above parameters with the degree people have considered people in the dataset pay attention to a hypothetical task they have in front of them.

Based on our findings, we investigate the role of eye gaze directionality in relation to head rotations and, based on previous studies, we developed an algorithm for estimating attention levels from head pose, eye gaze and facial feature spatial locations.

With the help of our AI system and people's annotation, we have made a first attempt towards quantifying the role of each cue to the overall estimation of attention. One of the important properties of the technical part of this work is that all systems we used were non-intrusive and did not demand any personal training or calibration phase, constituting themselves ideal for Game playing. Knowing the behavioral state of a player can be of vital importance for adapting the game design during interaction, or building personal profiles, leading to appropriate game features aiming at maximizing player satisfaction.

In order to solve the evaluation problem of automated guided vehicle system (AGVS) flexibility, a new feasibility evaluation approach is proposed according to the present research situation. This method can deal with the problem of AGVS rescheduling caused by provisional change of production tasks. The effectiveness of this method is also proved in this paper. Simulation result shows that the method can evaluate the reschedule feasibility under provisional situations. And the prospect of this method is also discussed in this paper. It is proved that the method is efficient and feasible.

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