RP8-Quarter-Year Reports


Task 1: Multi-wheel system control


Quarter-Year III/2008, From Start of GIM until 30.9.2008

Study activityPersonnelStart dateActivities performed
Preliminary simulation model of hydraulic IHA-machine step 1Vuohijoki2007Master’s thesis: Creating simulation and development platform for an Autonomous Mobile Machine
Design power transmission hydraulics of IHA-machineVuohijoki2008 
Modelling of Hydraulics and Mechanics of Mobile MachineVuohijoki, Hyvönen, Huhtala, Vilenius2007Fluid Power and Motion Control 2008, Bath. A simulation study of valve controlled power transmission of skid steered mobile machine
Preliminary dynamic simulation model of full-bridge coupling of a hydraulic motorVuohijoki2008This model will be used as a tool in control system design of the flow divider
Tests and measurements of data transmission and hydraulic components of power transmission of IHA-machineVuohijoki, Backas2008Some of the measurements are ready
Simulation study on steering of a articulated –steering machineGhabcheloo2008Effects of kinematics on the choice f hydraulic circuit for an articulated-steering machine.

Quarter-Year IV/2008, From 1.10.2008 til 31.12.2008

Study activityPersonnelStart dateActivities performed
Designing of control system of full-bridge coupling of a hydraulic motorVuohijoki2008Early steps in control system design

Quarter-Year I/2009, From 1.1.2009 til 30.3.2009

Study activityPersonnelStart dateActivities performed
Designing of control system of full-bridge coupling of a hydraulic motorVuohijoki2009Early steps in control system design

Quarter-Year II/2009, From 1.4.2009 til 30.6.2009

Study activityPersonnelStart dateActivities performed
Contruction of IHA-machineIHA2009Hydraulics and mechanics
Designing of control system of full-bridge coupling of a hydraulic motorVuohijoki2009Early steps in control system design

Quarter-Year III/2009, From 1.7.2009 til 30.9.2009

Study activityPersonnelStart dateActivities performed
Construction of IHA-machineIHA2009Electronics and control system
Steering of articulated machineVuohijoki2009Starting of control system design
Designing of control system of full-bridge coupling of a hydraulic motorVuohijoki2009Early steps in control system design

Quarter-Year IV/2009, From 1.10.2009 til 31.12.2009

Study activityPersonnelStart dateActivities performed
IHA-Machine launcedIHANov 2009IHA-Machine Launch demonstration
Steering of articulated machineVuohijoki2009control system design
Designing of control system of full-bridge coupling of a hydraulic motorVuohijoki2009Early steps in control system design

Quarter-Year I/2010, From 1.1.2010 til 31.3.2010

Study activityPersonnelStart dateActivities performed
Steering of articulated machineVuohijoki2010control system design
Designing of control system of full-bridge coupling of a hydraulic motorVuohijoki2010Building of dynamic simulator

Quarter-Year II/2010, From 1.4.2010 til 30.6.2010

Study activityPersonnelStart dateActivities performed
Steering of articulated machineVuohijoki2010control system design
Designing of control system of full-bridge coupling of a hydraulic motorVuohijoki2010Control system design with dynamic simulator

Quarter-Year III/2010, From 1.7.2010 til 30.9.2010

Study activityPersonnelStart dateActivities performed
Steering of articulated machineVuohijoki2010Control system design
Designing of control system of full-bridge coupling of a hydraulic motorVuohijoki2010Simulation comparison of different control methods and system variations

Quarter-Year IV/2010, From 1.10.2010 til 30.12.2010

Study activityPersonnelStart dateActivities performed
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--2010-

Quarter-Year I/2011, From 1.1.2011 til 31.3.2011

Study activityPersonnelStart dateActivities performed
--2011-
--2011-

Task 2: Further development of rolking


Quarter-Year III/2008, From Start of GIM until 30.9.2008

Study activityPersonnelStart dateActivities performed
A dynamic Simulation and Development platform model of rolking legHyvönen2008A preliminary dynamic Matlab/Simulink model of rolking leg. Model is going to be used in estimation of mechanical loads of the leg and also in preliminary designing of the control system

Quarter-Year IV/2008, From 1.10.2008 til 31.12.2008

Study activityPersonnelStart dateActivities performed
Study of mechanical loads and feasible structure of the leg for IHA-machineJulkunen, Myllymäki2008Master's thesis

Quarter-Year I/2009, From 1.1.2009 til 31.3.2009

Study activityPersonnelStart dateActivities performed
Study of mechanical loads and feasible structure of the leg for IHA-machineJulkunen, MyllymäkiSpring 2009Master's thesis

Quarter-Year II/2009, From 1.4.2009 til 30.6.2009

Study activityPersonnelStart dateActivities performed
Study of mechanical loads and feasible structure of the leg for IHA-machineMyllymäkiSpring 2009Master's thesis

Quarter-Year III/2009, From 1.7.2009 til 30.9.2009

Study activityPersonnelStart dateActivities performed
Study of mechanical loads and feasible structure of the leg for IHA-machineMyllymäki,VuohijokiSpring 2009Master's thesis
Sizing of the hydraulic system and desing of the low level control system of the leg for IHA-machineAksela,VuohijokiAutumn 2009Master's thesis

Quarter-Year IV/2009, From 1.10.2009 til 31.12.2009

Study activityPersonnelStart dateActivities performed
Sizing of the hydraulic system and desing of the low level control system of the leg for IHA-machineAksela,Vuohijoki-Master's thesis
............

Quarter-Year I/2010, From 1.1.2010 til 31.3.2010

Study activityPersonnelStart dateActivities performed
Sizing of the hydraulic system and desing of the low level control system of the leg for IHA-machineAksela,Vuohijoki-Master's thesis
............

Quarter-Year II/2010, From 1.4.2010 til 30.6.2010

Study activityPersonnelStart dateActivities performed
Sizing of the hydraulic system and desing of the low level control system of the leg for IHA-machineAksela,Vuohijoki-Master's thesis
............

Quarter-Year III/2010, From 1.7.2010 til 30.9.2010

Study activityPersonnelStart dateActivities performed
Sizing of the hydraulic system and desing of the low level control system of the leg for IHA-machineAksela,*Hyvönen-Master's thesis
............

Quarter-Year IV/2010, From 1.10.2010 til 30.12.2010

Study activityPersonnelStart dateActivities performed
----
--2010-

Quarter-Year I/2011, From 1.1.2011 til 31.3.2011

Study activityPersonnelStart dateActivities performed
--2011-
--2011-

Task 3: GIMBall; Further development of ball locomotion


Quarter-Year III/2008, From Start of GIM until 30.9.2008

Study activityPersonnelStart dateActivities performed
State of the artYlikorpi2005Licenciate's Thesis, FSR-paper, CLAWAR-book article
Mechanical designYlikorpi20073D-model of GimBall, manufacturing drawings
ManufacturingLeppänen2007Mechanical structure of GimBall ready
InstrumentationNagai1.1.2008Master's Thesis, electrical & electromechanical components procurement and assembly, remote control software, basic driving software, some oscillation control software

Quarter-Year IV/2008, From 1.10.2008 til 31.12.2008

Study activityPersonnelStart dateActivities performed
Dynamic modelingYlikorpi10/2008Preliminary dynamic ADAMS-model of GIM-ball, first simulations with simple controls in ADAMS. Implemented Simulink controller using co-simulation with the ADAMS model.
Extended State of the artYlikorpi11/2008Found 22 new articles about spherical robots, release first internal report on mechanical evolution of spherical robots.

Quarter-Year I/2009, From 1.1.2009 til 31.3.2009

Study activityPersonnelStart dateActivities performed
Dynamic modelingYlikorpi, Oumer1/2009Update of Gimball mechanics: new motor encoder, added balance mass on rolling axis, new guiding servo that required some electrical re-design. Changes reflected in Adams-model.

Quarter-Year II/2009, From 1.4.2009 til 30.6.2009'

Study activityPersonnelStart dateActivities performed
Control system developmentOumer1/2009Thesis research continues.

Quarter-Year III/2009, From 1.7.2009 til 30.9.2009

Study activityPersonnelStart dateActivities performed
Control system developmentOumer1/2009Thesis research complished.

Quarter-Year IV/2009, From 1.10.2009 til 31.12.2009

Study activityPersonnelStart dateActivities performed
.........No activities in this period.
.........Waiting for new students to participate.
.........'Thistle'-student project below shares similar interest.

Quarter-Year I/2010, From 1.1.2010 til 31.3.2010

Study activityPersonnelStart dateActivities performed
.........No activities in this period.
.........Waiting for new students to participate.
.........'Thistle'-student project below shares similar interest.

Quarter-Year II/2010, From 1.4.2010 til 30.6.2010

Study activityPersonnelStart dateActivities performed
Public relationsYlikorpi18.3.-11.5.Participation in 'Robotic Ball Study for Planetary Surface Missions'-study conducted by NASA Johnson Space Center and arranged via telecons and Webex-meeting.
.........'Thistle'-student project below shares similar interest.

Quarter-Year III/2010, From 1.7.2010 til 30.9.2010

Study activityPersonnelStart dateActivities performed
No activities during this period..........
............

Quarter-Year IV/2010, From 1.10.2010 til 30.12.2010

Study activityPersonnelStart dateActivities performed
No activities during this period.---

Quarter-Year I/2011, From 1.1.2011 til 31.3.2011

Study activityPersonnelStart dateActivities performed
No activities during this period.---

Task 4: Techniques for passive underwater locomotion


Quarter-Year III/2008, From Start of GIM until 30.9.2008

Study activityPersonnelStart dateActivities performed
    
    

Quarter-Year IV/2008, From 1.10.2008 til 31.12.2008

Study activityPersonnelStart dateActivities performed
    
    

Quarter-Year I/2009, From 1.1.2009 til 31.3.2009

Study activityPersonnelStart dateActivities performed
SWARMEemeli Aro Unit's software has been re-written
SWARMManel Sarda Error detecting and recovery issues
SWARMQu Zengcai Diving engine control algorithms
SWARMEemeli Aro System advanced 3D simulator
DAMOCLESJanne Paanajärvi Novel solutions for localization and navigation has been developed for an underwater robot operating without any GPS signal
Doctoral dissertationEemeli Aro Title: Control of a underwater multi-robot system
Doctoral dissertationZhongliang Hu Title: Localization techniques for underwater multi-robot system

Quarter-Year II/2009, From 1.4.2009 til 30.6.2009

Study activityPersonnelStart dateActivities performed
............

Quarter-Year III/2009, From 1.7.2009 til 30.9.2009

Study activityPersonnelStart dateActivities performed
............

Quarter-Year IV/2009, From 1.10.2009 til 31.12.2009

Study activityPersonnelStart dateActivities performed
............
............

Quarter-Year I/2010, From 1.1.2010 til 31.3.2010

Study activityPersonnelStart dateActivities performed
............
............

Quarter-Year II/2010, From 1.4.2010 til 30.6.2010

Study activityPersonnelStart dateActivities performed
............
............

Quarter-Year III/2010, From 1.7.2010 til 30.9.2010

Study activityPersonnelStart dateActivities performed
............
............

Quarter-Year IV/2010, From 1.10.2010 til 30.12.2010

Study activityPersonnelStart dateActivities performed
----
--2010-

Quarter-Year I/2011, From 1.1.2011 til 31.3.2011

Study activityPersonnelStart dateActivities performed
--2011-
--2011-

Task 5: Biologically inspired locomotion systems


Quarter-Year III/2008, From Start of GIM until 30.9.2008

Study activityPersonnelStart dateActivities performed
---No activities.

Quarter-Year IV/2008, From 1.10.2008 til 31.12.2008

Study activityPersonnelStart dateActivities performed
---No activities.

Quarter-Year I/2009, From 1.1.2009 til 31.3.2009

Study activityPersonnelStart dateActivities performed
WhatWhoWhenResults
Master's Research on multi-robot operations of reconfigurable Lego-robot team. Seminar report on State-of-the-art on reconfigurable robotics.David Leal Martinez1/2009Definition of Thesis topic, Seminar presentation and report.
CeilbotYlikorpi2/2009Preliminary Definition of Project

Quarter-Year II/2009, From 1.4.2009 til 30.6.2009

Study activityPersonnelStart dateActivities performed
Master's Research on multi-robot operations of reconfigurable Lego-robot team.David Leal Martinez1/2009Thesis research continues.
CeilbotYlikorpi2/2009Project published and advertised.

Quarter-Year III/2009, From 1.7.2009 til 30.9.2009

Study activityPersonnelStart dateActivities performed
Master's Research on multi-robot operations of reconfigurable Lego-robot team.David Leal Martinez1/2009Thesis research complished.
CeilbotYlikorpi2/2009Project kick-off on Sept. 23rd.

Quarter-Year IV/2009, From 1.10.2009 til 31.12.2009

Study activityPersonnelStart dateActivities performed
Thistle dynamic modelingYlikorpi1.12.2009First Adams-model created.
Master's research on Thistle control system developmentYanning He11/2009Preliminary definition of task.
CeilbotYlikorpi + Martinez + 9 graduate students9/2009Conceptual definition of 4 different Ceilbot applications. Final presentations 10.12.2009. Web-site opened in http://autsys.aalto.fi/en/Ceilbot

Quarter-Year I/2010, From 1.1.2010 til 31.3.2010

Study activityPersonnelStart dateActivities performed
Thistle dynamic modelingYlikorpi1.12.2009More Adams-models created to reflect different modeling of flexible arcs. Simulations available in http://autsys.aalto.fi/en/Research/Space
Master's research on Thistle control system developmentYanning He11/2009Controller development onging.
Master's research on Thistle control electronics developmentShi Yifei11/2009Electrical systems and software development for Gumstix Overo onboard-computer being developed.
CeilbotYlikorpi + Martinez + 3 graduate students1/2010Development of object recognition from camera images, 3D-SLAM and architectural modual rail system. Final presentations 21.4.2010 and 28.4.2010. Web-site opened in http://autsys.aalto.fi/en/Ceilbot/Spring2010

Quarter-Year II/2010, From 1.4.2010 til 30.6.2010

Study activityPersonnelStart dateActivities performed
Thistle dynamic modelingYlikorpi1.12.2009Dynamic modeling of Thistle continued as needed to support ongoing Masters research activities.
Master's research on Thistle control system developmentYanning He11/2009Controller development onging.
Master's research on Thistle control electronics developmentShi Yifei11/2009Electrical systems and software development for Gumstix Overo onboard-computer being developed.
CeilbotYlikorpi + Martinez + 3 graduate students1/2010Development of object recognition from camera images, 3D-SLAM and architectural modual rail system. Final presentations 21.4.2010 and 28.4.2010. Web-site opened in http://autsys.aalto.fi/en/Ceilbot/Spring2010

Quarter-Year III/2010, From 1.7.2010 til 30.9.2010

Study activityPersonnelStart dateActivities performed
Master's research on Thistle control system developmentYanning He11/2009Thesis work finished.
Master's research on Thistle control electronics developmentShi Yifei11/2009Thesis work finished.
CeilbotYlikorpi + Martinez + graduate students9/2010Implementation project initiated.

Quarter-Year IV/2010, From 1.10.2010 til 30.12.2010

Study activityPersonnelStart dateActivities performed
CeilbotYlikorpi + Martinez + graduate students12/2010Procurement of rail components. Design of communications software and manipulator pop-model.

Quarter-Year I/2011, From 1.1.2011 til 31.3.2011

Study activityPersonnelStart dateActivities performed
CeilbotYlikorpi + Martinez + graduate students1/2011Assembly of rail components. Design of trolley, energy system, camera system and manipulator pop-model.

Task 6: Dynamic energy conserving bipedal walking


Task 6 Quarter-Year-Reports are moved in internal pages.