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Development of a service robot with an open architecture and advanced interface.

Chow Man Kit. / Thesis (M.Phil.)--Chinese University of Hong Kong, 2003. / Includes bibliographical references (leaves 88-92). / Abstracts in English and Chinese. / ABSTRACT --- p.i / 摘要 --- p.iii / ACKNOWLEDGEMENTS --- p.v / TABLE OF CONTENTS --- p.vi / LIST OF FIGURES --- p.ix / LIST OF TABLES --- p.xi / Chapter 1. --- INTRODUCTION --- p.1 / Chapter 1.1 --- Previous Models on Robot Software Architecture --- p.2 / Chapter 1.1.1 --- SPA --- p.2 / Chapter 1.1.2 --- Sub sumption Architecture --- p.3 / Chapter 1.1.3 --- Three Layer Architecture --- p.4 / Chapter 1.1.4 --- Two Layer Architecture --- p.6 / Chapter 1.1.5 --- RCS --- p.7 / Chapter 1.2 --- Motivation and Research Objective --- p.9 / Chapter 1.2.1 --- Motivation --- p.9 / Chapter 1.2.2 --- Contribution --- p.10 / Chapter 1.3 --- Thesis Outline --- p.11 / Chapter 2. --- STUDY ON ARCHITECTURE --- p.12 / Chapter 2.1 --- Hierarchy in Architecture --- p.12 / Chapter 2.1.1 --- Purpose of Hierarchy --- p.12 / Chapter 2.1.2 --- Suggested Hierarchy --- p.14 / Chapter 2.1.3 --- Short Summary in Hierarchy --- p.18 / Chapter 2.2 --- Modularity in Architecture --- p.18 / Chapter 2.2.1 --- Purpose of Modularity --- p.18 / Chapter 2.2.2 --- Suggested Modularity --- p.19 / Chapter 2.3 --- Connectivity in Architecture --- p.20 / Chapter 2.3.1 --- Purpose of Connectivity --- p.20 / Chapter 2.3.2 --- Suggested Connectivity --- p.21 / Chapter 3. --- STUDY ON INTERFACES --- p.23 / Chapter 3.1 --- Physical Interface --- p.24 / Chapter 3.2 --- Application Programming Interface (API) --- p.24 / Chapter 3.3 --- User Interface --- p.27 / Chapter 4. --- PROSPOSED ROBOT SOFTWARE ARCHITECTURE --- p.29 / Chapter 5. --- PRACTICAL IMPLEMENTATION --- p.32 / Chapter 5.1 --- Hardware Implementation --- p.32 / Chapter 5.1.1 --- Driving Module --- p.33 / Chapter 5.1.1.1 --- Wheels and motors arrangement --- p.36 / Chapter 5.1.1.2 --- Kinematics of wheeled mobile robot --- p.37 / Chapter 5.1.1.3 --- Inverse kinematics of the mobile robot --- p.41 / Chapter 5.1.1.4 --- Dynamic Controller --- p.44 / Chapter 5.1.1.5 --- Emergency Stop --- p.52 / Chapter 5.1.1.6 --- Homing Mechanism for Steering Axis --- p.53 / Chapter 5.1.2 --- Sensing Module --- p.54 / Chapter 5.1.2.1 --- Sensing System --- p.55 / Chapter 5.1.2.2 --- Using Comport as the Data Transmission Medium --- p.55 / Chapter 5.1.3 --- Power Configuration --- p.56 / Chapter 5.1.3.1 --- Basic Power Connection --- p.57 / Chapter 5.1.3.2 --- Design on Power Distribution System --- p.57 / Chapter 5.2 --- Software Considerations --- p.59 / Chapter 5.2.1 --- Operating System --- p.59 / Chapter 5.2.2 --- Parallel Processing --- p.59 / Chapter 5.3 --- Implementation of Robot Software Architecture --- p.61 / Chapter 5.3.1 --- Local Terminal Module --- p.62 / Chapter 5.3.2 --- Navigation Module --- p.62 / Chapter 5.3.3 --- Sensing Module --- p.64 / Chapter 5.3.3.1 --- Sensor Data Retrieval --- p.65 / Chapter 5.3.3.2 --- Error Checking --- p.65 / Chapter 5.3.3.3 --- Calculating Obstacle Repulsive Vector --- p.67 / Chapter 5.3.3.4 --- Visualizing Sensor Data --- p.67 / Chapter 5.3.4 --- Communication Module --- p.68 / Chapter 5.3.5 --- New idea integrated in Communication Module --- p.70 / Chapter 5.4 --- Summary --- p.73 / Chapter 6. --- APPICATION EXAMPLE AND EXPERIMENT --- p.76 / Chapter 6.1 --- Application Example --- p.77 / Chapter 6.2 --- Experiment --- p.78 / Chapter 7. --- CONCLUSIONS AND FUTURE WORKS --- p.81 / Chapter 7.1 --- Conclusions --- p.81 / Chapter 7.2 --- Future Works --- p.83 / APPENDIX --- p.84 / Chapter A. --- Homing Mechanism for Steering Axis --- p.84 / Chapter A.1 --- Working Algorithm --- p.84 / Chapter A.2 --- Hardware Component --- p.85 / Chapter A.3 --- Circuit Diagram --- p.85 / Chapter A.4 --- Pin Assignment --- p.85 / Chapter B. --- Power Specification --- p.86 / Chapter B.1 --- Power Consumption by PC --- p.86 / Chapter B.2 --- Hardware Component on Power --- p.87 / BIBLIOGRAPHY --- p.88

Identiferoai:union.ndltd.org:cuhk.edu.hk/oai:cuhk-dr:cuhk_324326
Date January 2003
ContributorsChow, Man Kit., Chinese University of Hong Kong Graduate School. Division of Automation and Computer-Aided Engineering.
Source SetsThe Chinese University of Hong Kong
LanguageEnglish, Chinese
Detected LanguageEnglish
TypeText, bibliography
Formatprint, xi, 92 leaves : ill. (some col.) ; 30 cm.
RightsUse of this resource is governed by the terms and conditions of the Creative Commons “Attribution-NonCommercial-NoDerivatives 4.0 International” License (http://creativecommons.org/licenses/by-nc-nd/4.0/)

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