The paper refers to the issue of robot companion being able to migrate between different embodiments. The main attention is focused on the case when two or more companions can share the same embodiment. It is shown th...
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The paper refers to the issue of robot companion being able to migrate between different embodiments. The main attention is focused on the case when two or more companions can share the same embodiment. It is shown that some behavioural characteristics can be significant in the process of recognition of the companion's identity. The results are based on a video based experimental study. Animations for this study were prepared using a dedicated software.
The efficient sharing of information is a commonly overlooked problem in methods proposed for cooperative multi-robot tasks. However, in multi-robot scenarios, especially when the communication network's quality o...
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ISBN:
(纸本)9789897580406
The efficient sharing of information is a commonly overlooked problem in methods proposed for cooperative multi-robot tasks. However, in multi-robot scenarios, especially when the communication network's quality of service is less than desirable, either in bandwidth or reliability, efficient information exchange is a key aspect for the successful deployment of coordinated robotic teams with proper exchange of information. Compression is a popular, well-studied solution for transmitting data through constrained communications channels, and many general-purpose solutions are available as free and open-source software (FOSS) projects. There are various benchmarking tools capable of comparing the performance of these techniques, but none that differentiate between them in the compression of the typical data exchanged among robots in a cooperative task. Thus, choosing a compression technique to be used in this context is still a challenge. In this paper, the issue of efficiently communicating data among robots is addressed by comparing the performance of various compression techniques in a case study of multi-robot simultaneous localization and mapping (SLAM) scenarios using occupancy grids, a cooperative task usually requiring the exchange of large amounts of data.
The paper presents a new approach to the dynamic stabilization of the pendulum in an arbitrary angle. In this approach the desired angle of the pendulum's position is changed in time. This is achieved by controlli...
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The paper presents a new approach to the dynamic stabilization of the pendulum in an arbitrary angle. In this approach the desired angle of the pendulum's position is changed in time. This is achieved by controlling the angle of oscillations of the pendulum's suspension point which leads to controlling the pendulum in a moving potential well. The exemplary form of the input control was proposed and then the ability to control the pendulum was confirmed by numerical analysis. Additionally, the transition of the pendulum through the whole range of its angle position has been shown.
3-D perception of scenes with specular surfaces is still challenging for robotics applications in urban areas, for both active and passive range sensors;there is a need for improved solutions that work without artific...
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The work concerns the problem of modeling and simulation of the averaged dynamics of PWM converters, which may operate alternately in the continuous current mode (CCM) and the discontinuous current mode (DCM). To capt...
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The work concerns the problem of modeling and simulation of the averaged dynamics of PWM converters, which may operate alternately in the continuous current mode (CCM) and the discontinuous current mode (DCM). To capture different descriptions of converter dynamics in different current modes, the hybrid system concept is utilized. The derivation of the hybrid system, which models the average dynamics of the exemplary converter, is presented in details. The performance of the proposed hybrid systems is confirmed by numerical simulation tests.
Robots are an inevitable part of the future industry. Their increased utilization will result in increased productivity, safer work environment and very helpful in human daily life. However, their successful implement...
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ISBN:
(纸本)9781424411450
Robots are an inevitable part of the future industry. Their increased utilization will result in increased productivity, safer work environment and very helpful in human daily life. However, their successful implementation will only happen if their use will only benefit and not harm the human. That is why it is crucial to take into consideration safety aspect in human robot interaction and robotization on the whole. In this paper has attempted to summarize the major areas of research currently under investigation in the development of safe and reliable robot systems and its interaction with environment. These areas include hazards investigation, the design robot itself, standards development for safety, methods of safeguarding, etc. This study is aimed at understanding common safety problems with robot installation in human working environment. The purpose of this paper is to draw upon the vast bank of research in robot safety and indicate how the existing results may be generated and applied to the field of Human-Robotic interaction.
This research paper compares two neural-network-based adaptive controllers, namely the Hybrid Deep Learning Neural Network Controller (HDLNNC) and the Adaptive Model Predictive Control with Nonlinear Prediction and Li...
This research paper compares two neural-network-based adaptive controllers, namely the Hybrid Deep Learning Neural Network Controller (HDLNNC) and the Adaptive Model Predictive Control with Nonlinear Prediction and Linearization along the Predicted Trajectory (AMPC-NPLPT), for controlling a nonlinear object with delay. Specifically, the study investigates the effect of delay on the accuracy of the two controllers. The experimental results demonstrate that the AMPC-NPLPT approach outperforms HDLNNC regarding control accuracy for the given nonlinear object control problem.
Intelligent and refined production becomes the development direction of the aluminium electrolysis industry. Anode current signals (ACS) can reflect the local conditions of electrolytic cells, timely and accurately cl...
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The paper presents the comparison of fractional order to integer order transfer function models of physical pendulum. The considered transfer functions describe the behaviour of the system around the lower, stable equ...
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This paper presents the concepts of the stereovision system equipped with only one camera with adaptation allowing to obtain full stereo picture for acquirement a digital model of the transport device workspace. Speci...
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This paper presents the concepts of the stereovision system equipped with only one camera with adaptation allowing to obtain full stereo picture for acquirement a digital model of the transport device workspace. Special author's care was focused on the system validation, having regard its specific architecture. The present stereovision system is part of Autonomous Navigation System solutions, dedicated to the overhead travelling cranes. All tests were conducted on the physical model of overhead travelling crane with hosting capability 150kg.
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