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The reduction in the range of the infrared sensors in bright sunlight indicates that it is advisable to include additional obstacle avoidance sensors. Laser range finders are an attractive solution; however they tend to be expensive, requiring either high speed electronics or a dedicated digital camera system (often with an associated frame grabber card). A simple alternative is the incorporation of ultrasonic sensors. These can reliably project out to a distance of several meters, and detect obstacles that the robot is likely to encounter. By narrowing the transmitted beam, multipath reflections can be reduced, and simple time-of-flight calculations can easily yield the robot-to-obstacle distance. Accurate localisation of the robots will need further development. The several meter accuracy of the GPS units is not adequate for fine positioning of the robots. Whilst infrareds and/or ultrasonics can provide accurate relative positioning once the robots are closer than 5 meters apart, it would be desirable to have sub-meter absolute positioning. This could be achieved with the purchasing of more expensive GPS modules (US$10K), this would negate the low-cost emphasis of this construction. Odometry and inertial sensing are accurate over short distances, so it is anticipated that use will be made of landmarks to reset the accumulated odometry error, and provide for more accurate localisation. Unfortunately, this constrains the robots to operating in a known environment, and is not an optimal solution. Finally, the manipulator arm obviously needs to be designed and mounted on the robots. This is a significant task, and is not the focus of this article.
Mobile robots have been increasingly applied in many different scenarios, such as space exploration and search and rescue, where the robots are required to travel over uneven terrain while outdoors. This book provides a new framework and the related algorithms for designing autonomous mobile robotic systems in such unknown outdoor environments.
This book is an introduction to the foundations and methods used for designing completely autonomous mobile robots. Readers are introduced to the fundamental concepts of mobile robotics via twelve detailed case studies which show how to build and program real working robots. The book provides a very practical introduction to mobile robotics for a general scientific audience, and is essential reading for practitioners and students working in robotics, artificial intelligence, cognitive science and robot engineering.
This book addresses several issues related to the introduction of automaton and robotics in the construction industry in a collection of 23 chapters. The chapters are grouped in 3 main sections according to the theme or the type of technology they treat. Section I is dedicated to describe and analyse the main research challenges of Robotics and Automation in Construction (RAC). The second section consists of 12 chapters and is dedicated to the technologies and new developments employed to automate processes in the construction industry. Among these we have examples of ICT technologies used for purposes such as construction visualisation systems, added value management systems, construction materials and elements tracking using multiple IDs devices. This section also deals with Sensorial Systems and software used in the construction to improve the performances of machines such as cranes, and in improving Human-Machine Interfaces (MMI). Authors adopted Mixed and Augmented Reality in the MMI to ease the construction operations. Section III is dedicated to describe case studies of RAC and comprises 8 chapters. Among the eight chapters the section presents a robotic excavator and a semi-automated façade cleaning system. The section also presents work dedicated to enhancing the force of the workers in construction through the use of Robotic-powered exoskeletons and body joint-adapted assistive units, which allow the handling of greater loads.