robotics is considered to be a powerful tool for teaching STEM especially when employing white-box platforms to build and program robots. In this context, programming environments should be simple and understandable f...
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ISBN:
(纸本)9781467375238
robotics is considered to be a powerful tool for teaching STEM especially when employing white-box platforms to build and program robots. In this context, programming environments should be simple and understandable for increasing the learning success and for easing the entry for teachers with non-informatics background. Furthermore, many robotics applications can also benefit from flexibility in the program deployment in contrast to the usual code-compile-download paradigm. To address these issues, this paper presents a flexible programming environment based on a layered robot control architecture, which involves the usage of mobile devices. Source code created on a smartphone or tablet can be downloaded to the robot controller, which organizes the programs having on-board compilation and execution environments. Besides, a versioning system adds to the comfort. The presented approach enables students to intuitively handle their robots, but can also be applied in more sophisticated scenarios where module-based flexible programming is required.
Environmental research is an area where robotics platforms can be applied as solutions for different problems to help or automate certain tasks, with the purpose of being more efficient or also safer for the researche...
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Environmental research is an area where robotics platforms can be applied as solutions for different problems to help or automate certain tasks, with the purpose of being more efficient or also safer for the researchers involved. This paper presents the Kamanbare platform. Kamanbar6 is a bioinspired robotic platform, whose main goal is to climb trees for environmental research applications, applied in tasks such as gathering botanical specimen, insects, climatic and arboreal fauna studies, among others. Kamanbare is a platform that provides flexibility both in hardware and software, so that new applications may be developed and integrated without the need of extensive knowledge in robotics.
The proceedings contain 219 papers. The topics discussed include: hamiltonian of line graph under condition of constraint;the performance persistence of mutual fund: the empirical research based on cross-sectional reg...
ISBN:
(纸本)9783642259913
The proceedings contain 219 papers. The topics discussed include: hamiltonian of line graph under condition of constraint;the performance persistence of mutual fund: the empirical research based on cross-sectional regression;a driving method of the electro hydraulic proportional valve based on compensation network;the structure and realization of a compactweeding robot in stamping mode for paddy fields;study on the identification of noise sources and reducing noise for diesel engine;the design of UART controller based on FPGA;synchronization of fractional-order chaotic system with application to communication;design of temperature measuring and controlling system based on STM32;expert-system-based design of large networks of deployable mechanisms;and a heuristic algorithm for the initial codebook design in vector quantization.
The proceedings contain 219 papers. The topics discussed include: hamiltonian of line graph under condition of constraint;the performance persistence of mutual fund: the empirical research based on cross-sectional reg...
ISBN:
(纸本)9783642258985
The proceedings contain 219 papers. The topics discussed include: hamiltonian of line graph under condition of constraint;the performance persistence of mutual fund: the empirical research based on cross-sectional regression;a driving method of the electro hydraulic proportional valve based on compensation network;the structure and realization of a compactweeding robot in stamping mode for paddy fields;study on the identification of noise sources and reducing noise for diesel engine;the design of UART controller based on FPGA;synchronization of fractional-order chaotic system with application to communication;design of temperature measuring and controlling system based on STM32;expert-system-based design of large networks of deployable mechanisms;and a heuristic algorithm for the initial codebook design in vector quantization.
Auditory information can expand the knowledge of the environment of a mobile robot. Therefore, assigning sound sources to a global map is an important task. In this paper, we first form a relationship between the micr...
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ISBN:
(纸本)9789897584428
Auditory information can expand the knowledge of the environment of a mobile robot. Therefore, assigning sound sources to a global map is an important task. In this paper, we first form a relationship between the microphone positions and auditory features extracted from the microphone signals to describe the 3D position of multiple static sound sources. Next, we form a Constraint Satisfaction Problem (CSP), which links all observations from different measurement positions. Classical approaches approximate these non-linear system of equations and require a good initial guess. In contrast, in this work, we solve these equations by using interval analysis in less computational effort. This enables the calculation being performed on the hardware of a robot at run time. Next, we extend the approach to model uncertainties of the microphone positions and the auditory features extracted by the microphones making the approach more robust in real applications. Last, we demonstrate the functionality of our approach by using simulated and real data.
This paper analyzes the comfort of wheelchair users when a sliding-mode trajectory-tracking controller is used. The transmission of the horizontal (fore-and-aft) vibration to the head-neck complex (HNC) in the seated ...
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ISBN:
(纸本)9789898111319
This paper analyzes the comfort of wheelchair users when a sliding-mode trajectory-tracking controller is used. The transmission of the horizontal (fore-and-aft) vibration to the head-neck complex (HNC) in the seated human body may cause unacceptable discomfort and motion sickness. A double-inverted pendulum model with two degrees of freedom is considered as a model for the HNC. The user comfort is examined not only in the time domain (using the fourth power vibration dose value), but also in the frequency domain (using the cross-spectral density method). For measuring the acceleration of the wheelchair, along the trajectory, an inertial measurement unit was used.
Despite the important role of simulation in the development and control of robotics systems, the majority of open source simulation tools has however paid no attention to the progress and paradigm change on the robot ...
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ISBN:
(纸本)9789897581984
Despite the important role of simulation in the development and control of robotics systems, the majority of open source simulation tools has however paid no attention to the progress and paradigm change on the robot design in the past 15 years with the consideration of soft actuation technologies as a mean to power new robotic systems. More specifically, the integration of series elastic actuators (SEAs) into robots modifies significantly the dynamics characteristics of the system while the incorporation of the passive compliance into the actuators is not applied in conventional simulators. This paper introduces a scheme for the implementation of the SEA dynamics on a Gazebo-ROS framework exploited for the simulation of a new centaur-like robot. This approach is based on designing a custom control plugin embodying the passive compliance dynamics so that the controller associated with each joint receives both collocated and non-collocated feedback. A simulation comparison with Matlab validating the performance of the designed control plugin is demonstrated. In the end, a whole-body simulation of the centaur robot driven/controlled by the proposed plugin is presented.
Autonomous exploration of mazes requires finding a "center of gravity" keeping the robot safe from colliding with the walls. That is similar to the obstacle avoidance problem as the maze walls are obstacles ...
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ISBN:
(纸本)9789897583049
Autonomous exploration of mazes requires finding a "center of gravity" keeping the robot safe from colliding with the walls. That is similar to the obstacle avoidance problem as the maze walls are obstacles that the robot must avoid. In this report, we describe an approach to controlling robot movements in a maze using an Inverse Compensation Vector (ICV) that is not much more computationally demanding than calculating a centroid point. The ICV is used to correct the robot velocity vector that determines the direction and the speed, so the robot moves in the maze staying securely within the passages between the walls. We have tested the approach using a simulator of a physical robot equipped with a planar LIDAR scanner. Our experiments showed that using the ICV to compensate robot velocity is an effective motion-correction method. Furthermore, we augmented the algorithm with preprocessing steps that alleviate problems caused by noisy raw data coming from actual LIDAR scans of a physical maze.
This paper discusses the placement of cameras in order to achieve the highest possible localization accuracy. It is reached by using several cameras with redundant fields of views. A camera model is introduced and the...
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ISBN:
(纸本)9789897580406
This paper discusses the placement of cameras in order to achieve the highest possible localization accuracy. It is reached by using several cameras with redundant fields of views. A camera model is introduced and the components which cause the localization errors are identified. The localization accuracy measure is defined for one and for multiple cameras too. The problem of adding a new camera to the system in order to improve the accuracy is formulated. The method for finding the optimal placement of this new camera is presented. Some features are enumerated which can be applied for getting an advanced method.
This paper proposes the application of Deep Learning methods for kinematic error compensation. Particular attention is paid to simulation-based error estimation and the use of the Transfer Learning method for error co...
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ISBN:
(纸本)9789897584428
This paper proposes the application of Deep Learning methods for kinematic error compensation. Particular attention is paid to simulation-based error estimation and the use of the Transfer Learning method for error compensation to reduce physical experiments with a real robot. The obtained results were applied and validated for 4-dof (degrees of freedom) cable-driven parallel robot. The problem of error compensation for the cable-driven parallel robot is highly non-linear. Nevertheless, deep learning-based methods for a considerable training dataset provides better accuracy than simple linear error compensators. To overcome this drawback, we applied the transfer learning method and used the knowledge of robot kinematics simulated in Unity. Unity cable-driven robot simulation was implemented, and the central hypothesis was verified first in the simulated environment. The proposed Transfer Learning method allowed to speed up the process of robotics system integration and recalibration due to the significant sample efficiency improvement.
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