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  • 1.
    Hellström, Thomas
    et al.
    Umeå University, Faculty of Science and Technology, Department of Computing Science.
    Johansson, Thomas
    Umeå University, Faculty of Science and Technology, Department of Computing Science.
    Ringdahl, Ola
    Umeå University, Faculty of Science and Technology, Department of Computing Science.
    A Java-based middleware for control and sensing in mobile robotics2008In: International Conference on Intelligent Automation and Robotics 2008, 2008, p. 649-654Conference paper (Refereed)
    Abstract [en]

    Many of the existing mobile-robot software packages do not include handling of sensors and actuators in a sufficiently systematic and uniform way, as described later in this section. The software framework proposed in this paper, denoted NAV2000, addresses the specific need for interchangeability of components in robotics. At the lowest level, sensors, and sometimes also actuators, often have to be replaced by similar, yet not identical, components. At a higher level, the target vehicle often changes during the work process. The presented software provides a framework that supports these replacements and allows configurations of sensors, actuators, and target machines to be specified and manipulated in an efficient manner. The system can be distributed over a network of computers if some software modules require more computing power, i.e. more hardware can be added to the system without any software changes. To accomplish sufficient monitoring of the system's health, a dedicated system keeps track of all software modules. The system uses logfiles to enable convenient debugging and performance analysis of hardware and software modules. The software has been developed as part of, and is currently in use in, a R&D-project for an autonomous path-tracking forest machine.

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    FULLTEXT02
  • 2.
    Hellström, Thomas
    et al.
    Umeå University, Faculty of Science and Technology, Department of Computing Science.
    Johansson, Thomas
    Umeå University, Faculty of Science and Technology, Department of Computing Science.
    Ringdahl, Ola
    Umeå University, Faculty of Science and Technology, Department of Computing Science.
    Development of an Autonomous Forest Machine for Path Tracking2006In: Field and Service Robotics: Results of the 5th International Conference, New York: Springer , 2006, p. 603-614Conference paper (Refereed)
    Abstract [en]

    In many respects traditional automation in the forest-machine industry hasreached an upper limit, since the driver already has to deal with an excess ofinformation and take too many decisions at a very high pace. To furtherautomation still, introduction of semi-autonomous and autonomous functions areexpected and considered necessary. This paper describes an ongoing projectalong these ideas. We describe the development of the hardware and software ofan unmanned shuttle that shifts timber from the area of felling to the mainroads for further transportation. A new path-tracking algorithm is introduced,and demonstrated as being superior to standard techniques, such as Follow theCarrot and Pure Pursuit. To facilitate the research and development, acomprehensive software architecture for sensor and actuator interfacing isdeveloped. Obstacle avoidance is accomplished by a new kind of radar,developed for and by the automotive industry. Localization is accomplished by combining data from a Real-Time Kinematic DifferentialGPS/GLONASS and odometry. Tests conducted on a simulator and asmall-scale robot show promising results. Tests on the real forest machine areongoing.

    Download full text (pdf)
    FULLTEXT01
  • 3.
    Johansson, Thomas
    et al.
    Umeå University.
    Hellström, Thomas
    Umeå University.
    A software infrastructure for sensors, actuators, and communication2005In: Proceedings of The Third Swedish Workshop on Autonomous Robotics (SWAR05), 2005Conference paper (Other (popular science, discussion, etc.))
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