論基于web的移動(dòng)機(jī)器人平臺(tái)的實(shí)時(shí)演習(xí)(編輯修改稿)
2025-07-21 06:44 本頁(yè)面
【文章內(nèi)容簡(jiǎn)介】 as, and sound synthesizerfor realizing activities automatically. Thus, theinformation acquired from sensors can be used to monitorresults or provides feedback for control or other purposes.The cameras are used for monitoring the robot actions.But, direct use of camera for robot motion control is seldomat webbased laboratories. The reasons are thatvisionbased webrobot applications require realtime control,realtime image processing, high bandwidths to transferraw or processed images to the user platform and ahuman operator。 it might also cause delay in operation(Smith amp。 HashtrudiZaad, 2006。 Trahanias et al., 2005),programs for robot vision can not be changed throughweb interface (Kwon, Rauniar, Chiou, amp。 Sosa, 2006。Marin et al., 2003).In this study, a web platform supported by a mobilerobot system for realtime experiments has been designedand implemented. The robot system especially designedfor even surfaces supports the activities on Ramp。 D, observation,exploration, security and especially courses in engineeringeducation. The designed platform named as WebbasedSmall Universal Navigator (WebSUN) acplishesvarious tasks through webbased municationand control units. Some of these units have been introducedin Sagiroglu, Yilmaz, and Bayrak (2005, 2006), Yilmaz(2005), Yilmaz, Sagiroglu, and Bayrak (2006a, 2006b).WebSUN provides a fully operated platform to users tosupport realtime robot vision, control and programmingexercises. The platform has a mobile robot to be controlledremotely by the developed hardware and software withoutusing any sensor except camera and optical tachometers.This makes the system distinct from the similar studies presentedin the literature.This paper is organized as follows. Section 2 describesthe structure of webbased realtime platform presentedin this work. Section 3 gives the design and implementationdetails of WebSUN. In Section 4, some of the works canbe achieved on the platform were introduced. Finally,experimental results were presented and concluded in Section5.2. Proposed system (webSUN) or platformGeneral structure of the proposed system or platform(WebSUN) is demonstrated in Fig. 1. The system mainlyconsists of web portal and control center including mobilerobot vehicle, user and database management modules,support software, wireless access point, municationcenter, administration, support libraries, control centerand portable PC were also parts of the platform. WebSUN (Small Universal Navigator) was mainly designedto build up a multifunctional realtime web exercises.In general, the platform involves in integrating threemajor disciplines, namely, mechanical, electronic and softwareengineering to support online or realtime services fordesired applications. It needs to be emphasized that mostof the systems having hardware, software and mechanicswere developed by the authors. WebSUN system havinga threewheelrobot vehicle, a twode
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