Nasser Houshangi

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The objective is to accurately determine mobile robots position and orientation by integrating information received from odometry and an inertial sensor. The position and orientation provided by odometry are subject to different types of errors. To improve the odometry, a fiber optic gyroscope is used to give the orientation information that is more(More)
The visual information obtained from a camera and an image processing unit is incorporated in an adaptive control algorithm to make a robotic manipulator grasp a moving object. Because of the inherent time delay caused by the image processing, the motion of the moving target is predicted in real-time and is used in the on-line planning of the trajectory for(More)
The research objective is to determine an accurate position and orientation for mobile robots based on information received from odometry and inertial sensors. For a wheeled robot, odometry is one of the important means of achieving the robot position. To improve on odometry's error, the information from odometry is integrated with the inertial system using(More)
One of the most important reasons for the popularity of mobile robots in industrial manufacturing is their capability to move and operate freely. In order for the robots to perform to the expectations in manufacturing, their position and orientation must be determined accurately. In addition, there is a strong tendency to grant more autonomy to robots when(More)
In this paper a hybrid control system for a novel small scale coaxial helicopter is presented. Based on a cascade architecture the control system is made up of an inner-loop, for attitude control, and an outer-loop, for trajectory control. The inner-loop consists of three PID controllers for the roll and pitch angles, and altitude control. The outer-loop(More)
The objective of the project is to develop a highly manoeuvrable mobile base suitable for operation in a hazardous environment. The base utilizes Omni wheels whose unique motion properties allow for three complete degrees of freedom: two translation degrees and one rotational. Phase I of the project, construction of the Omnibot mobile base is already(More)
The primary objective of our lane following system is to autonomously drive a mobile robot between two parallel lanes. Usually, the low sampling rate and the visibility of the environment are the main limitations of the vision sensors in a lane following system. In this paper, a higher sampling rate odometry sensor is integrated with a vision-based system(More)
The objective is to accurately determine mobile robots position and orientation by integrating information received from odometry and an inertial sensor. The position and orientation provided by odometry are subject to different types of errors. To improve the odometry, a fiber optic gyroscope is used to give the orientation information that is more(More)