Autonomous or tele-operated mobile machines and robots. Development and assessment of technology

Dissertation

Kari Koskinen

Research output: ThesisDissertationCollection of Articles

Abstract

Autonomous or tele-operated mobile work machines and robots are a new possibility for automating various tasks both at indoor and outdoor work-sites. This is especially important if the environment is hazardous or unhealthy for a human worker. Development and combination of various techniques is required for realizing overall control systems for autonomous mobile machines. Among these are the localization and navigation techniques, environment perception and modelling, path planning and high level planning and monitoring of the robot mission. This study consists of research and development work on autonomous or tele-operated mobile robots and their technology that has been carried out within the ESPRIT II Panorama project, the national Outdoor Robotics technology program and a few other related projects. The topics range from general system architecture to some specific techniques required and embedded in this kind of a control system. Another viewpoint is the consideration of the technology development, transfer and exploitation aspects of mobile robotics technology, particularly in Finland. The technical contribution is in the development and verification of certain architectural features in the system design, especially the piloting module of the Panorama system. Novel methods for specific techniques have also been developed and verified: video transmission via a narrow bandwidth channel and sonic or ultrasonic localization of a vehicle. The study on technology development, transfer and exploitation contributes to better understanding of how to plan and to realize a strategic approach in research and development work in a new technology field.
Original languageEnglish
QualificationDoctor Degree
Awarding Institution
  • Helsinki University of Technology
Supervisors/Advisors
  • Halme, Aarne, Advisor, External person
Award date11 Nov 1994
Place of PublicationEspoo
Publisher
Print ISBNs951-38-4635-0
Publication statusPublished - 1994
MoE publication typeG5 Doctoral dissertation (article)

Fingerprint

Robots
Robotics
Control systems
Motion planning
Mobile robots
Navigation
Ultrasonics
Systems analysis
Bandwidth
Planning
Monitoring

Keywords

  • mobility
  • mobile equipment
  • automation
  • automatic pilots
  • navigational aids
  • robots
  • automatic control equipment
  • development
  • assessments
  • telecommunication
  • work sites
  • machinery
  • control systems
  • navigation
  • positioning
  • models
  • utilization

Cite this

Koskinen, Kari. / Autonomous or tele-operated mobile machines and robots. Development and assessment of technology : Dissertation. Espoo : VTT Technical Research Centre of Finland, 1994. 200 p.
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title = "Autonomous or tele-operated mobile machines and robots. Development and assessment of technology: Dissertation",
abstract = "Autonomous or tele-operated mobile work machines and robots are a new possibility for automating various tasks both at indoor and outdoor work-sites. This is especially important if the environment is hazardous or unhealthy for a human worker. Development and combination of various techniques is required for realizing overall control systems for autonomous mobile machines. Among these are the localization and navigation techniques, environment perception and modelling, path planning and high level planning and monitoring of the robot mission. This study consists of research and development work on autonomous or tele-operated mobile robots and their technology that has been carried out within the ESPRIT II Panorama project, the national Outdoor Robotics technology program and a few other related projects. The topics range from general system architecture to some specific techniques required and embedded in this kind of a control system. Another viewpoint is the consideration of the technology development, transfer and exploitation aspects of mobile robotics technology, particularly in Finland. The technical contribution is in the development and verification of certain architectural features in the system design, especially the piloting module of the Panorama system. Novel methods for specific techniques have also been developed and verified: video transmission via a narrow bandwidth channel and sonic or ultrasonic localization of a vehicle. The study on technology development, transfer and exploitation contributes to better understanding of how to plan and to realize a strategic approach in research and development work in a new technology field.",
keywords = "mobility, mobile equipment, automation, automatic pilots, navigational aids, robots, automatic control equipment, development, assessments, telecommunication, work sites, machinery, control systems, navigation, positioning, models, utilization",
author = "Kari Koskinen",
note = "Project code: AUT43591",
year = "1994",
language = "English",
isbn = "951-38-4635-0",
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publisher = "VTT Technical Research Centre of Finland",
number = "197",
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school = "Helsinki University of Technology",

}

Koskinen, K 1994, 'Autonomous or tele-operated mobile machines and robots. Development and assessment of technology: Dissertation', Doctor Degree, Helsinki University of Technology, Espoo.

Autonomous or tele-operated mobile machines and robots. Development and assessment of technology : Dissertation. / Koskinen, Kari.

Espoo : VTT Technical Research Centre of Finland, 1994. 200 p.

Research output: ThesisDissertationCollection of Articles

TY - THES

T1 - Autonomous or tele-operated mobile machines and robots. Development and assessment of technology

T2 - Dissertation

AU - Koskinen, Kari

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PY - 1994

Y1 - 1994

N2 - Autonomous or tele-operated mobile work machines and robots are a new possibility for automating various tasks both at indoor and outdoor work-sites. This is especially important if the environment is hazardous or unhealthy for a human worker. Development and combination of various techniques is required for realizing overall control systems for autonomous mobile machines. Among these are the localization and navigation techniques, environment perception and modelling, path planning and high level planning and monitoring of the robot mission. This study consists of research and development work on autonomous or tele-operated mobile robots and their technology that has been carried out within the ESPRIT II Panorama project, the national Outdoor Robotics technology program and a few other related projects. The topics range from general system architecture to some specific techniques required and embedded in this kind of a control system. Another viewpoint is the consideration of the technology development, transfer and exploitation aspects of mobile robotics technology, particularly in Finland. The technical contribution is in the development and verification of certain architectural features in the system design, especially the piloting module of the Panorama system. Novel methods for specific techniques have also been developed and verified: video transmission via a narrow bandwidth channel and sonic or ultrasonic localization of a vehicle. The study on technology development, transfer and exploitation contributes to better understanding of how to plan and to realize a strategic approach in research and development work in a new technology field.

AB - Autonomous or tele-operated mobile work machines and robots are a new possibility for automating various tasks both at indoor and outdoor work-sites. This is especially important if the environment is hazardous or unhealthy for a human worker. Development and combination of various techniques is required for realizing overall control systems for autonomous mobile machines. Among these are the localization and navigation techniques, environment perception and modelling, path planning and high level planning and monitoring of the robot mission. This study consists of research and development work on autonomous or tele-operated mobile robots and their technology that has been carried out within the ESPRIT II Panorama project, the national Outdoor Robotics technology program and a few other related projects. The topics range from general system architecture to some specific techniques required and embedded in this kind of a control system. Another viewpoint is the consideration of the technology development, transfer and exploitation aspects of mobile robotics technology, particularly in Finland. The technical contribution is in the development and verification of certain architectural features in the system design, especially the piloting module of the Panorama system. Novel methods for specific techniques have also been developed and verified: video transmission via a narrow bandwidth channel and sonic or ultrasonic localization of a vehicle. The study on technology development, transfer and exploitation contributes to better understanding of how to plan and to realize a strategic approach in research and development work in a new technology field.

KW - mobility

KW - mobile equipment

KW - automation

KW - automatic pilots

KW - navigational aids

KW - robots

KW - automatic control equipment

KW - development

KW - assessments

KW - telecommunication

KW - work sites

KW - machinery

KW - control systems

KW - navigation

KW - positioning

KW - models

KW - utilization

M3 - Dissertation

SN - 951-38-4635-0

T3 - VTT Publications

PB - VTT Technical Research Centre of Finland

CY - Espoo

ER -

Koskinen K. Autonomous or tele-operated mobile machines and robots. Development and assessment of technology: Dissertation. Espoo: VTT Technical Research Centre of Finland, 1994. 200 p.