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Reliability, flexibility and minimum processing time are the key production requirements for sustainably competitive manufacturing. A high degree of flexibility often requires adjustments to both the individual robot-operated systems and the mobile robots used on the process side, resulting in an automatic increase in setup times. A uniform manufacturerindependent programming method for robots would radically reduce programming time. This work describes the development and implementation of a programming concept for mobile robots which allows the use of uniform commands independent of the manufacturer. The resulting programming library breaks these commands down to a level where autonomous code can be generated for the individually used robot, eliminating the need for the user to deal with complex programming tools. [ABSTRACT FROM AUTHOR]

In this paper we consider the hardware-software framework for solving problems associated with the integration of various robotic components into a single robotic system. As the complexity of navigation algorithms for mobile robots is constantly increasing, new approaches to the design of their control systems based on their modular architecture are required. The purpose of this work is to present the modular architecture of reconfigurable mobile robots as a hierarchical structure of control signal handlers. In this architecture a mobile robot is considered as a combination of modules, which in turn consist of simpler units – submodules. Each submodule includes a low-power microcontroller or an single-board computer and is responsible only for basic functions. A full-featured module is formed from a set of such submodules: a transport platform, a robot arm, a leg and so on. The article describes the manufactured prototypes of the submodules, briefly discusses the custom protocol of intermodular interaction of submodules connected by a CAN bus. The results of experiments on testing the protocol for providing real-time mode are presented and their analysis is given. The efficiency of the proposed solution, limitations and a short plan of further actions for the implementation of the project are shown. [ABSTRACT FROM AUTHOR]

The features of modular mobile robots with a pyramidal (multi-level) structure of the information-measuring and control system (CS) are considered from the point of view of inter-module inter-level and intra-level network interaction. The modular architecture allows for rapid reconfiguration of robotic systems. A hierarchical robot's CS topology, when each module has its own IMCS with a separate computer, allows one to increase the system's performance by distributing the computational load between the modules' computing devices. The implementation of distributed computing in a multiprocessor system with a hierarchical topology imposes a number of restrictions on the organization of inter-module information interaction. The concept of intermodule interaction is formulated, on the basis of which logical intermodule connections are analysed and possible information flows in a system with distributed computing are evaluated. In the context of these flows, specifications are formed defining methods of implementation of inter-module interaction based on existing networks and information interaction protocols. Virtual experiments are conducted with the developed specifications to find out the place of each of the compared networks in the robot as a whole. [ABSTRACT FROM AUTHOR]

In this paper we investigate a common issues associated with growth of computational complexity of mobile robots navigation algorithms. It is also shown that a realization of a particular robot application is usually slowed down because of lack of interchangeable and unified robot components. We propose a hierarchical modular architecture for reconfigurable mobile robots as a solution to these problems. In this architecture a mobile robot considered as a combination of modules, which in turn consist of more simple units - sub-modules. Each submodule incorporates a low performance microcontroller and is responsible for only basic functions. A set of sub-modules are then combined into a module – transport platform, robot leg, arm etc. Besides of this one of the main goals of the study is to provide a framework based on this architecture for a rapid robot prototyping with modules that can be assembled in a plug-and-play way. In this paper we mostly consider hardware modules and prototypes that have been already manufactured. We also briefly investigate a robot transport module structure for a motion on a rough terrain in an unstructured environment. [ABSTRACT FROM AUTHOR]

Mission planning is a fundamental problem in mobile robotics. Domain-independent planners and the PDDL language provide a standard and flexible framework for solving it. However, such planners have high requirements for computing resources which are at a premium on mobile platforms; also, they are single-threaded CPU-based and hence do not scale well. GPGPU-enabled onboard computers such as NVIDIA Jetson family boast high TFLOPs and energy efficiency, but no automated planners described in scientific literature are able to take full advantage of them. This paper describes a new automated planner running entirely on the GPU and its application for service mobile robot mission planning. The paper is based on the publishing from DAAAM 2019 Scientific Book chapter. [ABSTRACT FROM AUTHOR]

Many companies are already using robots, but many have not found enough applications for the robot and therefor they have not purchased it jet. One robot can be used to perform several different tasks, but it also raises the question of whether the production needs to be reorganized so that these multiple tasks are directed to the robot, or it can be solved differently where the robot moves between different tasks. In this paper different concepts will be discussed and each of its disadvantages and advantages will be highlighted. Paper also includes survey among Estonian manufacturing companies to find out which tasks are robotized and which tasks are desired to give over to robots in future. Paper also include short description about recently opened Industry 4.0 test hub where mobile robot applications are being tested and paper results will be also tested in this test hub. In general, this paper focus on solution how to use robot arm most efficient way if there is not enough job for stationary robot solution. [ABSTRACT FROM AUTHOR]

In public emergencies such as nuclear accidents or natural disasters, an immediate and accurate overview as well as an assessment of the area is the basis of all coordinated plans and actions for the rescue team. The persistent lack of such information leads to high risks and casualties for rescue workers. Mobile robots help to minimize risks and support the rescue teams with urgent information, as well as with debris clearing and search and rescue operations. This work discusses the necessities and requirements of mobile robots in search and rescue (S&R) applications such as a nuclear disaster and evaluates an implementation based on the system architecture of the mobile S&R robot “Robbie” of UAS Technikum Wien. [ABSTRACT FROM AUTHOR]

The article presents the results of the research, the purpose of which was to test the possibility of avoiding obstacles using the artificial neural network (ANN). The ANN functioning algorithm includes receiving data from ultrasonic sensors and control signal generation (direction vector), which goes to the Arduino UNO microcontroller responsible for mobile robot motors control. The software implementation of the algorithm was performed on the Iskra Neo microcontroller. The ANN learning mechanism is based on the Rumelhart-Hinton-Williams algorithm (back propagation). [ABSTRACT FROM AUTHOR]

The features of network communication in mobile modular robots with multilevel control system (CS) are considered both inside single layer and between multiple layers. Modular architecture enables implementation of rapid reconfiguration of robotic systems. Most of modern systems are built as one piece – all data streams come to a single powerful onboard computer, which implements the major part of control system. Hierarchical division on modules and submodules with their own CS enables lowering computational load on central parts of control systems via distributing calculations between them, abstracting and fusing data. Implementing such multilevel modular control system places restrictions on the possible means of communication between modules and submodules. In this paper, communicational bonds in a modular robot are being considered and parameters of emerging information flows are being analyzed. Based on this, the requirements for the types of networks and their topologies are presented. [ABSTRACT FROM AUTHOR]

An approach to solving an urgent scientific problem is considered – the development of principles and methods for creating control systems of mobile robots with a modular architecture based on the theory of multi-agent systems. It is proposed to use the hierarchical topology of the robot control system. Modular architecture assumes that each mechatronic module has its own control system implemented on relatively cheap microcontrollers. The modular solution allows for the rapid reconfiguration of robotic systems and significantly reduce the cost of manufacturing robots by reducing their variety. Inter-modules information and control interaction is proposed to be organized on a hierarchical basis – a group of full-featured mechatronic submodules, solving the same type of tasks and working together, are controlled by a mechatronic module of a higher level. This approach allows increasing the system performance due to the distribution of computational load between computing devices of individual mechatronic modules and submodules. The proposed control system can be represented as a multi-agent system consisting of full-featured mechatronic and/or electronic modules – agents that interact with each other to achieve a specific goal. In this structure, an analogy is seen with such area of scientific research as a multi-agent systems. [ABSTRACT FROM AUTHOR]

This paper shows the results of the study, the purpose of which is to solve the problem of identifying the shape of an obstacle and its orientation in a certain coordinate system using a sensor system of a modular mobile robot consisting of ultrasonic sensors. . Two implementations of the sensor system are considered: the ultrasonic sensor is located on the pivot-tilt mechanism controlled from a microcontroller; a multitude of ultrasound sensors is located along the perimeter of the robot sensor module. In the first case, the form of the obstacle is determined by scanning the surrounding space with one sensor; in the second case, all ultrasonic sensors are simultaneously firing and, based echo analysis the relief of the surrounding space is constructed, thereby performing a parallel scanning over the range of the territory. Experiments are show that the echo analysis of ultrasonic sensors with using the microcontroller is able to determine not only the azimuth of the obstacle, but also its shape such as the external (convex) corner, the internal (concave) corner, the flat wall, the doorway with the open door, the object of round shape and etc., and their orientation in some coordinate system. [ABSTRACT FROM AUTHOR]

Recent progress in mobile robotics paves the way of their usage in industrial environments. Nevertheless, they are currently no standards, which provide safety regulation in these environments for autonomous mobile robots. In this paper, three different safety concepts for mobile robots will be discussed, whereby the safe usage of a mobile robot in an industrial setting should be ensured. The first concept contains a safety ring, which allows the mobile robot to use probabilistic robotics in combination with a robust obstacle avoidance and safe hazard detection. Further, the second concept treats safe navigation without probabilistic robotics. The priority hereby lies on the self-localisation with reliable sensor methods. And in the third concept, an aware environment with object detection and tracking is shown. Virtual sensors in form of wireless sensor networks placed in the factory replace the need of physical sensors on mobile robots. The outline of this work is a theoretical comparison of these three safety concepts in consideration of their specific properties and their recommended usage for different scenarios. [ABSTRACT FROM AUTHOR]

This paper tries to address a sufficiently complex task - choice of module's computing platform for implementation of information-measuring and control system (IMCS) of full-functional modules of mobile robot with modular architecture. The full functionality of a mechatronic device is the ability to perform its goal function using only its own facilities for executing instructions from an external control system. This condition sets for robot's IMCS some specific requirements on selection of corresponding computational platform, which one could separate into objective, subjective and computative-objective criteria. This paper proposes use of discrete optimization with Pareto-optimum to select viable alternatives from computing platforms which can be both off-the-shelf and perspective products. One of the main criteria - such embedded computing platforms must have suitable computational power, low weight and sizes. The paper provides descriptions of different computing platforms, as well as the rationale for main quality criteria of them. An example of Pareto optimization for a specific IMCS solution for some types of mobile robot modules with modular architecture is provided. [ABSTRACT FROM AUTHOR]

This paper presents redesign and improvement of the open source four-legged 8 DOF mobile robot platform Aracna. This robot is developed for educational and research purposes, mainly to test different AI-powered methods for gait generation and optimization. We have modified the complete electrical setup of the platform by implementing state of the art electronics. Programming and interaction of programmer and robot is made easier and more intuitive. Weight of the robot is reduced by 0,2 kg. Complete physical setup of the robot is redesigned and optimized to take the new electronics. The robot is printed as an assembly using Objet's VeroBlue material. First experiments demonstrate better performance in terms of the level of autonomy compared to original version. Additionally, range of motion of legs is increased, enabling the robot to move faster. [ABSTRACT FROM AUTHOR]

In modern industrial environments, the usage of autonomous mobile robots is very common. Building up the mobile robot's prerequisites not only financial resources but interdisciplinary know how too. Therefore, these preconditions barriers small and medium-sized companies from the up to date industrial concepts. In order, to support small and medium-sized companies this paper shows, how to design and implement mobile robot systems capable to work safety into complex industrial 4.0 environment. This research task can be accomplished in three steps. The first step deals with the conceptualization and creation of a test environment inspired by a small and medium-sized environment. The difficulty is to build a new suitable test factory, which fits in an office room. In the second step, a simple work station for different test cases were conceptualized. The third step deals with the creation of different mobile robots. Because of the limited space the mobile robots in this work were not bigger than 20x20x20cm. A concept for a test industry 4.0 test factory with simple work stations was created. Different miniature mobile robots were bought and tested, whereby different risks of the standards were researched. For the next steps, an implementation and guideline of a solution in a small- or medium-sized company will be tested and written. [ABSTRACT FROM AUTHOR]

In this paper we suggest a structure of an autonomous control system for a six-wheeled vehicle with actively articulated frame that is traversing through cluttered spaces with undetermined placement of specified-type obstacles. Description of active frame transformation control strategies and algorithms also is given. Control algorithms utilize information that is provided by proprioceptive sensors (used in direct estimation of current vehicle configuration) and exterioceptive sensors (used in indirect estimation of the obstacle height and distance from it). These algorithms are active while vehicle overcomes random consequence of obstacles belonged to three classes: step (overcoming), step (descending) and ditch. For each obstacle type we suggest specific vehicle movement mode. Patterns of each feasible switching between modes and dependency between desired frame configuration and obstacle height are then discussed. Suggested strategies and algorithms are tested via complex virtual modelling of control system and vehicle dynamics. [ABSTRACT FROM AUTHOR]

This paper presents a novel method for motion realization of differential drive mobile robot along a complex trajectory using two-dimensional vector fields (artificial forces). The method allows robot to move along trajectories that similar to B-splines without their preparatory computation. This is performed by using the given sequence of points (intermediate goal points) and manipulation of vector fields that defined by Gaussian functions. The feature of the method realization is as follows in its application in the transport module of a heterogeneous modular mobile robot which modules are functionally complete electronic or mechatronic devices. A functional completeness in this case means that every module must perform the function that built in its engineering implementation and control system by itself. The transport module realizes its functions upon receipt control goals (parameters of position vector) from module-supervisor that is part of modular mobile robot. In this case the transport module computes motion trajectory independently. Therefore a method of information interaction between the transport module and a module-supervisor is considered in this paper. The transport module performance under control of a module-supervisor is viewed by the example of mobile robotics typical tasks: motion in a known and unknown environment. [ABSTRACT FROM AUTHOR]

This paper deals with developing of method of spatial path planning for mobile robots of different types moving in unknown environment with obstacles. This method plans trajectories base on third-order Bezier splines using the data from onboard range sensors. It allows to automatically make decisions about the strategy of obstacles avoidance in horizontal or vertical planes considering the restrictions of mobile robots' propulsion system. Results of simulation confirm its high efficiency, low complexity and small computational capacity. [ABSTRACT FROM AUTHOR]

Usage of the mobile robots is extended in all areas of human life and work. The investigation of their behaviour becomes popular among the researchers around the world. Dynamic modelling of the mobile robot can be simplified by using their 3D CAD model. In this paper, the dynamic model of mobile robot is developed by MATLAB/Simulink using previously created 3D CAD model in SOLIDWORKS. As example, the mobile robot Robotino by FESTO is chosen. Assembly of mobile robot in form of xml file is imported from SOLIDWORKS to MATLAB. Such approach provides automatically generation of dynamics of robot's mechanical subsystem. Then, the model can be modified and upgraded, for instance to organize it on several levels, to actuate the wheels by motors, etc. Validation of the dynamic model is performed by simulation. [ABSTRACT FROM AUTHOR]

It is not easy to handle a nuclear accident in a nuclear power plant and keep the damage as little as possible. To alleviate the accident of Chernobyl, personnel were harmed. In case of Fukushima people were also sent into dangerous areas in the power plant. The first European Robotics Hackathon (EnRicH) in June 2017 was a robotics competition inside of a nuclear power plant in Austria, which was never put into operation. Creating a nuclear heat map within a two-dimensional map, a three-dimensional map and the manipulation of nuclear sources were the main tasks of the competition. A mobile robot called taurob tracker from the taurob GmbH was equipped with a SICK TIM551 laser scanner, a Kinect for XBoxOne, a nuclear sensor, cameras and a gripper. The 2D-mapping was accurate if enough features were recognized within an area of maximum 10 meters around the robot. With the Kinect a coloured point cloud was created. Successfully gripping a single nuclear source took about one minute. With the described robotic system, the given tasks of EnRicH 2017 have been successfully completed. [ABSTRACT FROM AUTHOR]

This paper proposes to design a heterogeneous modular mobile robot control system based on the principle of full functionality of the modules. The full functionality of a mechatronic device is the ability to perform its goal function using only its own facilities for executing instructions from an external control system. The external control system is a module-supervisor of modular robot in relation to the other modules of the robot. This module forms the control goal and verifies only the result of its achievement by executive module, but doesn't control the task execution process by the module. The full functionality of robot modules is achieved by designing each module as a full-featured electronic or mechatronic device with its own the information-measuring and control system that containing all necessary components: sensors, computing devices and actuators. The use of a network principle of the robot's information-measuring and control system construction and the Ethernet standards provides the capability of direct inter-module information interaction and the ability to rapidly form and alter the structure of the robot directly on the scene of the works and during the works themselves. [ABSTRACT FROM AUTHOR]

In the paper we obtained the mathematical model and the organization of automatic traffic control of transport mobile robots with hybrid drives. The hybrid drive is a mechatronic system which consists of an internal combustion engine, an electric torque drive and robot control device. When you build a algorithms and structures of control system of robot with hybrid drive, is taken into account the non-linearity of the characteristics of the hybrid drive, processes of energy recuperation, requirements to dynamic properties of the robot and the efficient using of energy resources. The results of theoretical research supported by the results of computer simulation, which confirmed the effectiveness of the structure and the control system algorithms for the robot motion on different types of path segments. [ABSTRACT FROM AUTHOR]

We consider the modular principle for the construction of functional units of mobile robots. The main ideas of this concept and the general structure of the heterogeneous robot are presented. Basic functions of the robot are used to determine the minimum set of functional modules. For one of the simple configurations of the modular robot (the service mobile robot), we develop a motion module that is one of the main modules of the mobile robot. We present the design of this motion module and the result of a mathematical model of its control system. The control system combines the tactical level (for the construction of motion sub-targets and intermediate trajectories) and the executive level. The executive level of control system is based on kinematic and dynamic models of the modular robot. Working efficiency of the modular robot's model was tested on different motion tasks. [ABSTRACT FROM AUTHOR]

This paper presents application of different edge detection methods for detecting of obstacles in the environment of mobile robot. Autonomous mobile robots operating in an unknown environment must be able to cope with hazards and obstacles, and at the same time to navigate through the environment performing required tasks. Detection and avoidance of obstacles, collisions and hazardous situations is a very important part of reliable and secure navigation of mobile robots. Vision sensor (camera) provides large amount of data about obstacles in the environment, however it is necessary to extract only the most important details. This paper will present a comparison of the four most common edge detection methods on examples of obstacles detection in different conditions. Methods used in this study are: Sobel, Prewitt, Roberts and Canny. [ABSTRACT FROM AUTHOR]

A necessary condition for the creation of robotic systems that would be able to replace a human in hazardous conditions is developing means of intelligent control and autonomous navigation providing the possibility of making independent decisions. The article describes a technique of natural visual landmarks detection and description for mobile robot cognitive navigation. The proposed landmarks are built by simultaneous filtering and clustering of a saliency map and a point map that can be achieved by a visual SLAM method like PTAM. As a result the natural landmarks are selected from the scene and described with point clouds and image patches from different point of views. The method significantly improves robot localization robustness (15% localization error from PTAM is completely removed) and can be used for semantic description of objects in a robot navigation map. [ABSTRACT FROM AUTHOR]

The paper solved the task of planning trajectory of the car-like mobile robot using a movable camera installed on it. Using a developed system and algorithm of telecontrol the robot moves in the specified direction with any initial orientation of a movable camera and basis of robot. Proposed system of telecontrol by the mobile robot and algorithm of its work allows automatically to consider mutual orientation of a movable camera and the basis of the mobile robot. Such algorithm was developed and simulated on model. [ABSTRACT FROM AUTHOR]

A technology of creating of geographically distributed multi-operator control of mechatronic devices via the Internet is described. We propose a hierarchical structure for the management of a group of robotized systems by combining their information-measuring and control systems into a local area network with mobile nodes via the Internet. A hardware and software architecture is proposed for interaction between mechatronic devices of various models and manufacturers. This mechanism is based on the concept of "drivers". Requirements to the hardware and software platform have been developed for the combination into a group of robotized systems. Reference realizations of protocols for message exchange and drivers for x86 and Arduino platforms have been created. We have developed graphical user interfaces for all components of the system. This software enables automatic configuration of the geographically distributed network and a full-featured access via the Internet to specific robotized devices (including to individual components of a mobile robot). The hardware and software system created on the basis of the proposed technology provides real-time feedback (including visual feedback) between a control object and an operator and makes it possible to remotely monitor the program code execution on the onboard computer (including microcontrollers) and dynamically correct it without rebooting the system. We describe the technical implementation of a pilot project for the hardware and software system by the example of supervisory (via the Internet) control of AMUR (IL "Sensorika") and Robotino (Festo) educational robots with a video surveillance of command execution. [ABSTRACT FROM AUTHOR]

This paper describes the system of semiautomatic position telecontrol by the multilink manipulator installed on the mobile robot. The operator uses a special setting device for control. The telecamera which forms the image on the operator's monitor is installed on other mobile robot. This camera can rotate about two mutually perpendicular axes. The system of telecontrol makes it possible to automatically take into account the spatial orientation of television camera. The working algorithm of the computing system is proposed and examined. This algorithm forms control signals for drives of all degrees of freedom of the manipulator. The results of executed experiments confirm effectiveness of developed system. [ABSTRACT FROM AUTHOR]

The approach to creation of universal software platform for realization of information-control system of mobile robot is proposed in this work. The main feature of this platform is universal structure of software components which consist of functional part and communication part. This structure allows provide the independence of functional part from hardware of mobile robot. The minimal set of software components which allows create the core of information-control system of mobile robot is proposed. Also the algorithms realizing of functions of these components are described. [ABSTRACT FROM AUTHOR]

This paper presents a technical report from the continuous research of IMS Group from Vienna University of Technology, in a field of the development and implementation of the next generation of assembling systems. Main focus of this paper is a presentation of working scenarios and mobile robot working algorithms in Bionic Assembly System and their realization in AnyLogic software. [ABSTRACT FROM AUTHOR]

In this paper we present a framework for path planning and path finding for multiple mobile robots with global vision. Our framework model considers the agents' dynamic status and their environment with obstacles to perform given tasks. The global vision system provides feedback to main controller computer and mobile robots are directed towards to their tasks with avoiding obstacles and without any collision. Different kinds of scenario are prepared to simulate manipulating tasks and non-collision behavior with our framework. Experiment results with Lego Mindstorms NXT shows that our framework can be used where a multi robot system is needed with minimum resources. [ABSTRACT FROM AUTHOR]

Achieving the models of nonlinear systems is quite a difficult task and often simplified forms are obtained due to the simplifying assumptions used. The goal of this paper is to present an overview of fuzzy controllers used in mobile robots and to discuss the advantages and drawbacks of fuzzy control in comparison with PID control. [ABSTRACT FROM AUTHOR]

This article describes the conversion of the commercionally sold kit of a remote-controlled car model into the small and lightweight exploration mobile robot. It also describes the usage of the individual sensors which were added to the robot and the usage of the control media which transfers the data to the operator. The robot will serve as a member of the team of robots that will be remote-controlled and the aim of which will be the searching of the unknown environment or the looking for the disaster-wounded. For this purposes every robot will have the different equipment, the carriage unit and qualities so that the whole team was capable of hard ground survey. [ABSTRACT FROM AUTHOR]

It is necessary to have a good knowledge of robot wheelframe properties in order to be able to design mobile robots and control their motions. These properties are most useful in a form of a mathematical model of a robot wheelframe. The models can be structured into two groups kinematic and dynamic. Sometimes a dynamic model is necessary which reflects also forces acting on the robot (f.e. centrifugal force created during passing through a curve), possibility of a wheel skid etc. However, for the majority of mobile robots, kinematic models' are sufficient. The major part of wheels applied in robotics can be structured into several basic categories. Each wheel type has its own definition of basic conditions, which rule out the possibility of wheel skid and slip. These conditions are formulable via mathematical equations. Through the combination of equations for all the wheels' of a robot wheelframe it is possible to gain the mathematical model of the whole wheelframe. This is a universal method of creating the mathematical model of any robotic wheelframe [ABSTRACT FROM AUTHOR]

When managing of mobile robot by operator via the Internet in large delays, transient and non-guaranteed delivery of data packets must be applied algorithms compensate for increasing reliability and precision of control. We propose to replace the common sequence of control commands coming from the operator for robot's devices by special supervisor commands with defined features. There is the condition that it will be realized for each of them, regardless of the quality of the control channel. This algorithm was tested and approved by the projects of the International Laboratory "Sensorika": the supervisor control systems via the Internet within the project "AMUR", and the video surveillance via WI-FI at the signal reception edge for special-purpose mobile robots BROKK-110 and BROKK-330. [ABSTRACT FROM AUTHOR]

Paper deals with organization of reliable and effective (from CPU usage point of view) transmission of video streams from video cameras on mobile robot to control center, their handling and displaying to operator. Used hardware and software described. Adaptive control implemented using advanced software sequencer controller. [ABSTRACT FROM AUTHOR]

This project is focused on limitations reduction of disabled people, dependent on a wheelchair. It is no problem today to modify the car controls so, that the car could be controlled by a disabled person. A disabled driver is in most cases able to fold a wheelchair and load it behind his seat for oneself However, if he uses an electrical wheelchair, a more complicated situation comes up. Such a wheelchair has to be loaded into the luggage space of the car. In this case, the disabled person is dependent on someone's help. The system of automatic loading enables to the disbaled person to independently use a car. After a disabled person sits behind the steering wheel, the wheelchair is automatically guided into the luggage space of the car and after parking it is guided back to the driver's door. The limitation factor of this system is price. That is why it has to be designed with minimum intervention into both the wheelchair and the car. [ABSTRACT FROM AUTHOR]

This paper describes a communication and control infrastructure for autonomous mini-robots, which is based on Bluetooth wireless communication technology. In mobile robots, one of the most important issues is power consumption which limits the lifetime of the robot. In this respect, for communication, a technology that requires the least energy is the most appropriate choice. This paper will focus on the protocol in using Bluetooth for controlling one or more mobile robots using the EB-500 module and Basic Stamp 2 from Parallax and a Memsic Dual Axis Accelorometer for analyzing the acceleration forces on a mobile robot which is manualy controlled via Bluetooth with a joystick [ABSTRACT FROM AUTHOR]

The modern neuro-fuzzy systems have characteristics which can be used to control the dynamic processes. However, in a real system, like mobile robots, one may find many input signals. In these conditions, an excessive number of inputs could alter the model transparency and increase the calculations complexity. Therefore, it is necessary to select the relevant inputs and consider the priorities. In this paper the authors implemented by simulation in Matlab® language a neuro-fuzzy control structure for mobile robot navigation to avoids the "dead cycle" problem by defining a target whereon the robot must be reached. [ABSTRACT FROM AUTHOR]