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Enhanced Map-Based Indoor Navigation System of a Humanoid Robot Using Ultrasound Measurements

Intelligent Control and Automation 2012年第2期3卷 111-116页

作者： Iivari Back jouko kallio Kari Makela Department of Biomedical Engineering Tampere University of TechnologySeinajokiFinland

During recent years, walking humanoid robots have gained popularity from wheeled vehicle robots in various assistive roles in human’s environment. Self-localization is a necessary requirement for the humanoid robots used in most of the assistive tasks. This is because the robots have to be able to locate themselves in their environment in order to accomplish their tasks. In addition, autonomous navigation of walking robots to the pre-defined destination is equally important mission, and therefore it is required that the robot knows its initiate location precisely. The indoor navigation is based on the map of the environment used by the robot. Assuming that the walking robot is capable of locating itself based on its initiate location and the distance walked from it, there are still factors that impair the map-based navigation. One of them is the robot’s limited ability to keep its direction when it is walking, which means that the robot is not able to walk directly from one point to another due to a stochastic error in walking direction. In this paper we present an algorithm for straightening the walking path using distance measurements by built-in sonar sensors of a NAO humanoid robot. The proposed algorithm enables the robot to walk directly from one point to another, which enables precise map-based indoor navigation.

关键词： Indoor Navigation Humanoid Robot Service Robot

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Stabilized Nickel-Rich-Layered Oxide Electrodes for High-Performance Lithium-Ion Batteries

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Energy & Environmental Materials 2024年第6期7卷 60-73页

作者： Zahra Ahaliabadeh Ville Miikkulainen Miia Mäntymäki Mattia Colalongo Seyedabolfazl Mousavihashemi Lide Yao Hua Jiang jouko Lahtinen Timo Kankaanpää Tanja kallio Department of Chemistry and Materials Science(CMAT) School of Chemical EngineeringAalto University02150 EspooFinland Department of Chemistry University of Helsinki00014 HelsinkiFinland Department of Applied Physics School of ScienceAalto University02150 EspooFinland Umicore Finland Oy 67101 KokkolaFinland

This work made use of the Aalto University Otanano-Nanomicroscopy Center and RAMI *** support from Business Finland NextGenBat[grant number 211849]is greatly *** tomography experiment was performed at the beamline ID16B of the European Synchrotron Radiation Facility(ESRF),Grenoble,France,in the frame of proposal *** patent titled“Stabilized Positive Electrode Material to Enable High Energy and Power Density Lithium-Ion Batteries”(IPD3173)is pertinent to this *** was filed by Zahra Ahaliabadeh and Tanja kallio,and the patent rights are held by Aalto University.

关键词： degradation mechanisms electrolyte decomposition hybrid coatings lithium-ion battery lithium-ion kinetics molecular layer deposition NMC811

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