Practical Field Robotics

1 Overview of Field Robotics 1

1.1 Introduction 1

1.2 Methodology 3

1.3 High-Level Decisions 3

Problems 4

Notes 4

2 A Mobile Robot System for Nuclear Service 7

2.1 Field Environment: Commercial Nuclear Plants 7

2.2 Field Work: Component Maintenance 8

2.3 Equipment Requirements 9

2.4 Conceptual and Operational Designs 12

2.5 Safety and Reliability 19

2.6 Detail Designs of the Service Arm 20

2.7 Detail Designs of the Walker 20

2.8 Conclusion 21

Problems 21

Notes 22

3 The Largest Mobile Robot in the World 23

3.1 Field Environment: Underground Mining 23

3.2 Field Work: Continuous Coal Haulage 25

3.3 Equipment Requirements 26

3.4 Conceptual and Operational Designs 29

3.5 Safety and Reliability 30

3.6 Detail Conceptual Designs 30

3.7 Conclusion 31

Problems 31

Note 31

4 A Mobile Robot for Mowing a Lawn 33

4.1 Field Environment: Suburban Lawns 33

4.2 Field Work: Navigation and Mowing 34

4.3 Equipment Requirements 34

4.4 Conceptual and Operational Designs 35

4.5 Safety and Reliability 37

4.6 Detail Conceptual Designs 37

4.7 High-Level Decisions 37

4.8 Conceptual Designâ"Technologies 38

4.9 Conceptual Designâ"Set Parameters 40

4.10 Conceptual Designâ"Operate Robot 42

Problems 42

Notes 43

5 The Next Levels of Functional Detail 45

5.1 Quantifying Conceptual Design 45

5.2 Quantifying Send Sound 46

5.3 Quantifying Receive Sound 53

5.4 Quantifying Interpret Sound 56

5.5 Design Choicesâ"Setting Parameters 65

5.6 Select a Platform 66

5.7 Select Frequencies 68

5.8 Select Motions 70

Problems 72

Notes 72

6 Operate Robot 73

6.1 Control System 75

6.2 Control System Select Operation 76

6.3 All About main() 78

6.4 Control Systemâ"Control Motions 79

6.5 Control Motionsâ"Rotate Motors 81

6.6 Control Motionsâ"Design Infrastructure 83

6.7 Control Motionsâ"Program Speeds 88

6.8 Control Motionsâ"Move Robot 89

6.9 Control Motionsâ"Sequence Motions 92

6.10 Control Information 92

Problems 102

Notes 103

7 Software Functions 105

7.1 Displays: To Place Needed Information to the User Screen 107

7.2 Field Data and Triangulation: Geometric Locating Functions 109

7.3 Operation: The Calls that Make the Robot Move and Stop 121

7.4 History and Diagnostics: The Immediate Past Used for Analysis 130

Problems 136

Note 137

Appendix A: Myth and Creativity in Conceptual Design 139

Appendix B: Real-World Automation Control through the USB Interface 159

Appendix C: Microchip Code for USB Board to PPM Translation 173

Appendix D: Selected Electronic Parts for Mowing Robot 179

Appendix E: Software Concordance 181

Appendix F: Solutions 187

Index 197