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  • Resultat 1-2 av 2
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  • Larsson, Johan, et al. (författare)
  • An evaluation of local autonomy applied to teleoperated vehicles in underground mines
  • 2010
  • Ingår i: 2010 IEEE International Conference on Robotics and Automation (ICRA). - IEEE conference proceedings. - 978-1-4244-5038-1 ; s. 1745-1752
  • Konferensbidrag (övrigt vetenskapligt)abstract
    • Autonomous vehicles are being increasingly introduced in the mining industry. While these may offer high safety and high productivity, fully autonomous solutions are not always applicable or economically viable. Teleoperation is an attractive option, since it increases safety and comfort of the drivers. Unfortunately, the difficulty to operate the vehicle remotely often results in reduced productivity. In this paper, we show that techniques from the field of mobile robotics can be used to mitigate this problem. We extend a commercial teleoperation system for use in underground mines with a local autonomy functionality, with the main purpose to evaluate if the achieved productivity improvement motivates development of general algorithms and a fully commercial implementation. We then describe a user study performed in an underground mine with a 38 tonne articulated wheel loader, which proves that local autonomy gives a significant improvement in productivity of the teleoperation system, while retaining or even reducing the maintenance costs.
  • Rashid, Jayedur, et al. (författare)
  • Indirect reference : reconfiguring distributed sensors and actuators
  • 2010
  • Ingår i: 2010 IEEE international conference on sensor networks, ubiquitous, and trustworthy computing : SUTC 2010. - IEEE conference proceedings. - 978-0-7695-4049-8 ; s. 284-290
  • Konferensbidrag (refereegranskat)abstract
    • Many sensor networks have lately included actuation as an important property of the nodes. With the introduction of actuation, new requirements are posed on these nodes in terms of reconfiguration of collaboration patterns. The sensors/actuators are very often connected to various heterogeneous hardware that have a few KBs of memory, low processing power and communication range, such as WSN motes. Also, for many applications networks of small and simple sensor and actuator nodes need to cooperate with networked robotic devices, which leads to further requirements to enable collaboration between devices of different scales. In this networked robot and sensor/actuator infrastructure, tasks are performed by the cooperation of multiple devices. Dynamically changing availability of devices as well as changes of tasks lead to a need of reconfiguration of the devices at runtime. Therefore a mechanism should be available in the communication level, which affords reconfiguration ability to the sensor/actuator nodes as well as robots. In this article, a concept called indirect reference is proposed, which facilitates dynamic reconfiguration of sets of distributed devices. We describe here also an implementation of the concept on a ubiquitous robotic middleware, which offers seamless integration of robots and WSN motes like tiny embedded devices with an example.
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  • Resultat 1-2 av 2
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konferensbidrag (2)
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refereegranskat (1)
övrigt vetenskapligt (1)
Larsson, Johan, (1)
Saffiotti, Alessandr ... (1)
Rashid, Jayedur, (1)
Örebro universitet (2)
Forskningsämne (UKÄ/SCB)
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