University of Twente Student Theses

Login

Rail-guided ballast tank inspection robot, Software architecture analysis and enhancement in the ROS environment

Tieleman, P (2016) Rail-guided ballast tank inspection robot, Software architecture analysis and enhancement in the ROS environment.

[img]
Preview
PDF
1MB
Abstract:The following report covers the Bachelor’s thesis of the study Electrical Engineering. After finishing all the theoretical work of the Bachelor study, this report puts all the learned theory into practice. More specifically, the work carried out took place at the Robotics and Mechatronics (RaM) department at the University of Twente. The topic of the assignment is the RoboShip project, subproject of the SmartBot project, which is a cooperation of different instances with the purpose of automatization of labor intensive jobs and difficult tasks. At the start of this project, a prototype of the RoboShip project was available. The prototype included a vehicle with a inspecting arm and a variety of sensing equipment. Subject of this thesis is the system architecture on a software level. This includes the control of the robot, which is possible by using a gamepad or a programmable user interface with a couple of buttons and a screen. No explicit description of safe control of the robot was available so at first the prototype was analyzed. After that, an improved version was thought of with respect to user insight in the processes of the robot and safe operation. Implementation of the new system was done next. Finally both the new system and prototype are compared and evaluated.
Item Type:Essay (Bachelor)
Clients:
Unknown organization, Nederland
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:53 electrotechnology
Programme:Electrical Engineering BSc (56953)
Link to this item:http://purl.utwente.nl/essays/70544
Export this item as:BibTeX
EndNote
HTML Citation
Reference Manager

 

Repository Staff Only: item control page