1,721,291 research outputs found
Development of advanced technologies for enhancing obstacle-negotiation capabilities in mobile robots
Full text linkObstacle negotiation is one of the major challenges for mobile robots, particularly
in environments where they must operate on uneven terrain or encounter physical
barriers such as stairs, debris, or rough ground. Practical applications for such
robots range from humanitarian assistance to logistics and inspection of hazardous
or hard-to-reach environments. Although various technological approaches have
been developed and successfully implemented, there is still a need to enhance
robots’ ability to adapt to a wide range of complex obstacles, ensuring greater
operational efficiency and safety.
This thesis focuses on the analysis and development of innovative technologies
to improve robots’ ability to overcome different types of obstacles. The primary
goal is to enhance the robots’ capability to operate in challenging environments
and ensure smooth and safe movement even in the presence of physical barriers,
thus contributing to the advancement of mobile robotics.
The first part of the thesis presents a systematic review of the scientific and
engineering literature on stair-climbing mechanisms is given. It provides concise
descriptions of the mechanisms and operating methods, highlighting the advan
tages and disadvantages of various climbing platforms. To quantitatively assess
system performance, several metrics are introduced. Using these metrics, it be
comes possible to compare vehicles with different locomotion modes and charac
teristics, offering researchers and practitioners valuable insights into stair-climbing
vehicles and enabling them to select the most suitable platform for transporting
people and heavy loads up staircases.
The second part of the thesis aims to propose a rigorous analysis approach to
study what happens when different kind of rubber belts or tires are in contact
with a corner edge and what forces are exchanged between these two elements. A
general introduction is given by mainly focusing on the scientific literature lack
of a comprehensive wheel-obstacle contact model for the step-climbing problem.
Then the importance of considering tire deformation has been emphasised and a
novel approach to wheel-obstacle contact mechanics is given. A description of the
test bench specifically developed for this work is provided along the experimental
results for two cases of flat belt and tire patch.
The third part of the thesis presents experimental results on the behavior of a
conventional pneumatic tire clearing a step-obstacle, alongside an analytical model
developed to analyze the interaction between a deformable tire and the corner edge
of a step-obstacle.
Finally, the ”XXbot” concept is developed. The thesis proposes a specialized
model that predicts how the system will move based on the terrain profile. Stair
climbing simulations were then performed using multibody simulation software
MSC-Adams, and the results are presented to demonstrate the effectiveness of the
proposed vehicle. The findings indicate that the robot can be adapted for various
applications, such as stair-climbing wheelchair platforms
Welcome message2011 6th International Workshop on the Analysis of Multi-temporal Remote Sensing Images (Multi-Temp)
No full textAn Iterative Technique for the Detection of Land-Cover Transitions in Multitemporal Remote-Sensing Images
No full text
Detection of changes in remotely-sensed images by the selective use of multi-spectral information
No full textA Split-Based Approach to Unsupervised Change Detection in Large-Size Multitemporal Images: Application to Tsunami Damage Assessment
No full textA Novel Framework for the Design of Change-Detection Systems for Very-High-Resolution Remote Sensing Images
No full textThis paper addresses change detection in multitemporal remote sensing images. After a review of the main techniques developed in remote sensing for the analysis of multitemporal data, the attention is focused on the challenging problem of change detection in very-high-resolution (VHR) multispectral images. In this context, we propose a framework that aims at defining a top-down approach to the design of the architecture of novel change-detection systems for multitemporal VHR images. The proposed framework explicitly models the presence of different radiometric changes on the basis of the properties of multitemporal images, extracts the semantic meaning of radiometric changes, identifies changes of interest with strategies designed on the basis of the specific application, and takes advantage of the intrinsic multiscale/multilevel properties of the objects and the high spatial correlation between pixels in a neighborhood. This framework defines guidelines for the development of a new generation of change-detection methods that can properly analyze multitemporal VHR images taking into account the intrinsic complexity associated with these data. In order to illustrate the use of the proposed framework, a real change-detection problem has been considered, which is described by a pair of VHR multispectral images acquired by the QuickBird satellite on the city of Trento, Italy. The proposed framework has been used for defining a system for change detection in the two images. Experimental results confirm the effectiveness of the developed system and the usefulness of the proposed framework
- …
