Metodyka sterowania i nadzorowania połączonych w sieć robotów mobilnych z zastosowaniem technologii CUDA

Janusz Będkowski

Abstract

The main problem of the following thesis is the control and supervision of the web connected mobile robots. The motivation is determined by the need of the new methods development such as control, supervision and integration of the existing modules (inspection robots, autonomous robots, mobile base station), therefore the uniform inspection - intervention system can be built. The main goal is to develop the methodology of the control and supervision. The original methodology of the control and supervision, that is the main research problem of the following thesis, is worked out. The methodology consists: structure of the multi robotic system, structure of the cognitive model of the human supervisor, the system algorithms and cognitive model algorithms. The research problem comprises the structure of the system of the mobile web connected robots development with the exemplification based on inspection intervention system. The state of the art of the inspection – intervention robots is shown, also the problem of the multi robotic system control is discussed. The modeling of the human supervisor behavior is introduced. The role of the human in the robotic system is defined, also the human factor and human impact into the control during crisis events is discussed. It is stated that it is impossible to eliminate human from the process of the robotic system control, therefore the intelligent machine that replaces human is proposed. Furthermore, the structure of the cognitive model of the human supervisor with the application of the new NVIDIA CUDA technology for parallel computation is elaborated. The hardware-software implementation of the robotic system and the implementation of the cognitive model of the human supervisor is shown. The autonomous robot, teleoperated robot and mobile base station functionalities are described, also the collaboration between this modules and the cognitive model is shown. The autonomous robot, teleoperated robot and mobile base station functionalities are described, also the collaboration between this modules and the cognitive model is shown. The results of the experiments are investigated in the mobile robots environment (real, virtual and hybrid). The experiments verify the impact of the cognitive model of the human supervisor into the system control during crisis events appearance. The methodology is verified by the exemplification based on the system composed by autonomous mobile robot ATRVJr and robot INSPECTOR. Also the results of the experiments of the CUDA algorithms performance investigation are shown. The methodology of the control and supervision of the web connected mobile robots is discussed. The further research areas are introduced.
Diploma typeDoctor of Philosophy
Author Janusz Będkowski (FM / IACR)
Janusz Będkowski,,
- The Institute of Automatic Control and Robotics
Title in PolishMetodyka sterowania i nadzorowania połączonych w sieć robotów mobilnych z zastosowaniem technologii CUDA
Languagepl polski
Certifying UnitFaculty of Mechatronics (FM)
Disciplineautomation and robotics / (technology domain) / (technological sciences)
Start date10-12-2008
Defense Date28-04-2010
End date16-06-2010
Supervisor Andrzej Masłowski (FM / IACR)
Andrzej Masłowski,,
- The Institute of Automatic Control and Robotics

Internal reviewers Jerzy Kurek (FM / IACR)
Jerzy Kurek,,
- The Institute of Automatic Control and Robotics
External reviewers Piotr Skrzypczyński
Piotr Skrzypczyński,,
-
Pages210
Keywords in Englishxxx
Abstract in EnglishThe main problem of the following thesis is the control and supervision of the web connected mobile robots. The motivation is determined by the need of the new methods development such as control, supervision and integration of the existing modules (inspection robots, autonomous robots, mobile base station), therefore the uniform inspection - intervention system can be built. The main goal is to develop the methodology of the control and supervision. The original methodology of the control and supervision, that is the main research problem of the following thesis, is worked out. The methodology consists: structure of the multi robotic system, structure of the cognitive model of the human supervisor, the system algorithms and cognitive model algorithms. The research problem comprises the structure of the system of the mobile web connected robots development with the exemplification based on inspection intervention system. The state of the art of the inspection – intervention robots is shown, also the problem of the multi robotic system control is discussed. The modeling of the human supervisor behavior is introduced. The role of the human in the robotic system is defined, also the human factor and human impact into the control during crisis events is discussed. It is stated that it is impossible to eliminate human from the process of the robotic system control, therefore the intelligent machine that replaces human is proposed. Furthermore, the structure of the cognitive model of the human supervisor with the application of the new NVIDIA CUDA technology for parallel computation is elaborated. The hardware-software implementation of the robotic system and the implementation of the cognitive model of the human supervisor is shown. The autonomous robot, teleoperated robot and mobile base station functionalities are described, also the collaboration between this modules and the cognitive model is shown. The autonomous robot, teleoperated robot and mobile base station functionalities are described, also the collaboration between this modules and the cognitive model is shown. The results of the experiments are investigated in the mobile robots environment (real, virtual and hybrid). The experiments verify the impact of the cognitive model of the human supervisor into the system control during crisis events appearance. The methodology is verified by the exemplification based on the system composed by autonomous mobile robot ATRVJr and robot INSPECTOR. Also the results of the experiments of the CUDA algorithms performance investigation are shown. The methodology of the control and supervision of the web connected mobile robots is discussed. The further research areas are introduced.
Thesis file
Bedkowski.pdf 5.34 MB
Citation count*5 (2020-09-18)

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