Robotic stations mobile

A mobile arm in a robotic station is supported in a track (Fig. 10.3B), which allows displacement of the arm in a length that varies, depending on the particular station, from... 

Fig. 10.3. Robotic stations with fixed and mobile arms. (A) Circular, PyTechnology, from Zymark. (B) Linear track, from Hudson. (Reproduced with permission of Zymark Corporation and Hudson Control Group, respectively.)...

Internal and/or external sensors will be mandatory in order to construct robotic stations capable of performing new tasks (e.g., establishing when a solid sample has been completely dissolved, detecting the presence or appearance of a precipitate) and develop mobile robots. These can be either used in isolation or incorporated into robots or robotic stations in order to ensure traceability in the results by use of well-established barcoding systems. 

Our case study is part of the SAPHARI Safe and Autonomous Physical Human-Aware Robot Interaction) project [5]. The robot is composed of a mobile base and an articulated arm. It is an industrial co-worker in a manufacturing setting. It takes and places part boxes on shelves, work stations, or on the robot base in order to convey them. It operates in the human workspace. We study here two safety invariants from this robot. 

Mobile machinery (e.g., transporters, moving robots) must be designed such that their mobility is not constrained while they are connected to the SSR power network(s). Designing all mobile machinery with rechargeable batteries may solve or significantly simplify the connectivity constraints but will require additional provisions for battery fabrication processes and fabrication and provision of battery charging stations. 

In the literature, localization is approached using supervised and unsupervised communication paradigms. In the first case, a centralized supervisor (i.e., abase station) collects all the data coming from the robots and provides an estimate for the pose of the whole team. In the second approach, each robot runs a local algorithm to estimate its pose, using only its own sensors and shares data with its neighbors following the Mobile Ad hoc NETwork (MANET) model. 

Mobile Robots Also referred to as pursuers, which are responsible for following and catching intruders based on control commands sent by the central control station or from data provided by the WSN, depending on the collaboration strategy (refer to Section 4). Mobile robots are assumed to have wireless communication capabilities, such as WiFi to communicate with each other and with other components. Wifibot Lab and Wifibot 4G are two examples of wireless mobile robots (Wifibot, 2011). 

A Central Control Station Represents a data collection center used to remotely monitor and control the area of interest. It typically plays two roles First, it collects data from the mobile robots and the WSN to obtain an updated system status (robot locations, sensor events, etc.). Second, it remotely controls and commands the robots and the WSN, based on the available information. 

Network Architecture Central to devising robust, reliable, and Quality-of-Service (QoS) aware communication services that ensure efficient interaction among the different system components, namely, the sensor nodes, mobile robots, and the control station. The network architecture must consider the heterogeneity of resources of the different actors since sensor nodes are more constrained than mobile robots and the control station. In the next subsection, we propose a network architecture that satisfies the aforementioned requirements. 

In Section 3, we presented the main networking and application layer protocols and system requirements of the SURV-TRACK application. These provide useful guidelines for any real-world implementation of an indoor surveillance application encompassing mobile robots and a sensor network. The aforementioned netwoik and application layers architecture offers ameanstothe different components of the surveillance system to communicate however, it is necessary to devise intelligent coordination mechanisms between mobile robots, sensor nodes, and the control station to effectively accomplish the taiget capturing missions. This is the purpose of the next section. 

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