Project name:




"Intelligent and Distributed Control of 3 Complex Autonomous Systems Integrated in Emerging Technologies to Medical and Social Assistance and Service of Flexible Precision Manufacturing Lines "- PN III Program Development of the National R & D System, contract 78 PCCDI / 2018, NR.INTERN AU 11-18-02



Official UCV: Dorian Cojocaru

P1 Subproject name:




"System design, modeling and simulation of distributed configurations of sensors and visual servoing systems on complex autonomous systems (CAS-SI, CAS-ARP, CAS-VAM) for personal medical-social assistance, intra / extra hospital and home "

Director P1:

ș Cristina Reșceanu


Mechatronics and Robotics


01.03.2018 - 31.08.2020 

Project purpose:






The purpose of the complex project (composed of 5 projects supervised by Dunarea de Jos University of Galati as coordinator, Polytechnic University of Bucharest, University of Craiova and Valahia University of Targoviste as partners): Modeling, simulation, balancing and control for two (laboratory) flexible assembly lines, assembly and processing, served by complex autonomous systems equipped with manipulators to perform disassembly and reprocessing.


Purpose of P1 project (made by UCV): It aims to develop mobile platforms with advanced sensor systems. The P1 project aims to support navigation systems based on the information provided by an integrated sensor system including image sensors. The sensory system provides information from the operating area, but also user-generated information (for example gestures or mimics), including people with disabilities as users. The mobile robotic platform will be a stand-alone platform with motorized wheels and one or two steering wheels, capable of being equipped with a robotic arm. The driving system (which will be supported by the sensory system mentioned as object of the P1 project) will have remote communication features and will use advanced control techniques. The navigation and obstacle avoidance system is based on a variety of sensors, including artificial vision, ultrasound and laser. Such a system can also be used as a personal, extra / intra-hospital robotic assistant for people with disabilities. Technologies that can be deployed on the basis of the integrated sensor system allow obstacle-free navigation and support for paraplegic people using this platform.

Project objectives P1:








OBJECTIVES STAGE 1-1. Defining, analyzing, selecting and integrating sensory structures in the control system for the mobile platform. OE1-1.1. System Analysis for mobile platforms with the determination of the inputs to be measured (distances, speeds, accelerations) and the precisions required for the identified measurements. Identify the types of sensors that can support the identified primary solutions: sonar, wireless gyroscopes, GPS receivers, infrared sensors, limiters, artificial vision sensors. It will also analyze the technical and economical performances for the sensor configurations that can be used on the mobile platforms, and at the end we will select the optimal solutions for the analyzed sensors.


OE1-1.2 Consider: the system integration of the individual sensory solutions selected in Activity 1 as well as the design of the sensory structure for the mobile platform. OE1-1.3 We will analyze and select: wired and wireless communications solutions to support sensory integration: integration techniques between image based vision sensors and other sensors, integration and interfacing the sensory architecture into the control architecture for the mobile platform.

OBJECTIVES STAGE 2-1. Modeling and simulation of the integrated sensor system. OE2- 1.1. Modeling and simulation of the sensors selected in Step 1-1. OE2- 1.2. Modeling and simulation of the sensory system defined in Step 1-1. OE2- 1.3. Simulation of obstacle overtaking trajectory control algorithms based on the information provided by the distributed sensing system.Results dissemination.

OBJECTIVES STAGE 3-1. Design and functional testing of the integrated sensor system. OE3- 1.1. Design of integrated sensor system in the control system. Results dissemination. OE3- 1.2. Functional testing of sensors selected in the previous stages. OE3- 1.3. Functional testing of the integrated sensor system. OE3-1.4. The final design specifications of the distributed sensor systems integrated into the three mobile systems. Results dissemination.