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Web-based simulation and motion planning for human-robot and multi-robot applications

INTERNATIONAL JOURNAL OF COMPUTER INTEGRATED MANUFACTURING 2025年第2期38卷 177-199页

作者： Ionescu, Tudor B. TU Wien Human Machine Interact Vienna Austria

This paper introduces the human-robot and multi-robot programming and simulation capabilities of a web-based, open-source robot programming and simulation tool called Assembly. The tool supports scenarios with up to three robots and provides support for simulating human arms working closely with a robot. To facilitate the simulation of scenarios involving human-robot and robot-robot collaboration, the paper proposes an improved version of the neural network-based Adaptive Simplex Motion Planner, which is capable of performing motion planning at a rate of over 3500 Hz. The improved toolpath planner uses an obstacle avoidance approach that leverages ray casting and shadow volume teachniques. The new planner is evaluated on the basis of two human-robot and multi-robot simulation scenarios and the results are compared to those of the original algorithm.

关键词： Generic multi-robot programming graphical programming simulation motion planning

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Review of the development status of low-code programming software for robots

Digital Engineering

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Digital Engineering 2025年 4卷

作者： Pengfei Wang Zhengwei Wang Jinjun Duan Yunfei Miao Wei Tian College of Mechanical and Electrical Engineering Nanjing University of Aeronautics and Astronautics Nanjing 210016 China State Key Laboratory of Intelligent Manufacturing System Technology Nanjing 210016 China

Low-code programming, a programming approach enabling program design with a small amount of code or even without code, can significantly simplify the program development process. Especially in the field of robotics, it has an urgent demand and broad application prospects. Against the backdrop of low-code programming for robots, this paper first introduces it from the perspectives of its development lineage and characteristic connotations. Then, it categorizes it based on the specific application forms in the robotics field and elaborates on the functions and current development status of domestic and foreign low-code programming software for robots according to the research findings. Additionally, the application of low-code programming in several major scenarios in the robotics field is presented. Based on the application requirements in the robotics field, the main user groups of low-code programming are analyzed. Finally, considering the deficiencies of low-code programming software in the robotics field, the future development trends are discussed and prospected, aiming to provide valuable references for the further development and application of low-code programming software for robots in China.

关键词： Robot Low-code software graphical programming Human–Machine Interaction

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DVRT: Design and evaluation of a virtual reality drone programming teaching system

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COMPUTERS & GRAPHICS-UK 2024年 125卷

作者： Jin, Zean Bai, Yulong Song, Wei Yu, Qinghe Yue, Xiaoxin Jia, Xiang Northwest Normal Univ Coll Phys & Elect Engn Lanzhou 730070 Gansu Peoples R China

Virtual Reality (VR) is an immersive virtual environment generated through computer technology. VR teaching, by utilizing an immersive learning model, offers innovative learning methods for Science, Technology, Engineering and Mathematics (STEM) education as well as programming education. This study developed a Drone Virtual Reality Teaching (DVRT) system aimed at beginners in drone operation and programming, with the goal of addressing the challenges in traditional drone and programming education, such as difficulty in engaging students and lack of practicality. Through the system's curriculum, students learn basic drone operation skills and advanced programming techniques. We conducted a course experiment primarily targeting undergraduate students who are beginners in drone operation. The test results showed that most students achieved scores above 4 out of 5, indicating that DVRT can effectively promote the development of users' comprehensive STEM literacy and computational thinking, thereby demonstrating the great potential of VR technology in STEM education. Through this innovative teaching method, students not only gain knowledge but also enjoy the fun of immersive learning.

关键词： Virtual reality STEM graphical programming Drones

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PROGRAPH - A PRELIMINARY-REPORT

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COMPUTER LANGUAGES 1985年第2期10卷 91-126页

作者： MATWIN, S PIETRZYKOWSKI, T TECH UNIV NOVA SCOTIA DEPT COMP SCIHALIFAX B3J 2X4NSCANADA

PROGRAPH is a functional, data flow oriented language, expressed graphically in the form of pictographs. Pictographs are created by computer graphics and are directly executable. PROGRAPH contains a data base subsystem which is also functional in nature (including update operations). This report provides a presentation of the main features of the language and detailed descriptions of its built in operations.

关键词： Dataflow graphical programming programming languages

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OC-FP, AN APPLICATIVE LANGUAGE COMBINATION WITH OCCAM AND THE ALGEBRA OF PROCESSES

MICROPROCESSING AND MICROPROGRAMMING

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MICROPROCESSING AND MICROprogramming 1987年第1-5期21卷 549-557页

作者： GLUCK, R DEMUTH, C VIENNA TECH UNIV INST PRAKT INFORMATA-1040 VIENNAAUSTRIA VIENNA TECH UNIV INST ANGEW INFORMAT & SYST ANALA-1040 VIENNAAUSTRIA

A functional language based on the FP-model is presented. The language combines occam processes and is used as a command level language for occam systems. It is well suited as a graphical language for concurrent programming. An algebra, based on the functional properties of the language, makes process-and communication structures accessible to (semi-) automatical transformations.

关键词： concurrent programming applicative programming occam FP transformations of process-structure algebra of processes graphical programming

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Determination of Moisture Content in Oil Palm Fruits Using a Five-Port Reflectometer

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SENSORS 2011年第4期11卷 4073-4085页

作者： Yee, Lee Kim Abbas, Zulkifly Jusoh, Mohamad Ashry Yeow, You Kok Meng, Cheng Ee Univ Putra Malaysia Dept Phys Upm Serdang 43400 Selangor Malaysia Univ Tunku Abdul Rahman Dept Elect & Elect Engn Fac Sci & Engn Kuala Lumpur 53300 Malaysia Univ Teknol Malaysia Radio Commun Engn Dept RaCED Fac Elect Engn Skudai 81310 Johor Malaysia Univ Malaysia Perlis Sch Mechatron Engn Arau 02600 Perlis Malaysia

This paper presents the development of a PC-based microwave five-port reflectometer for the determination of moisture content in oil palm fruits. The reflectometer was designed to measure both the magnitude and phase of the reflection coefficient of any passive microwave device. The stand-alone reflectometer consists of a PC, a microwave source, diode detectors and an analog to digital converter. All the measurement and data acquisition were done using Agilent VEE graphical programming software. The relectometer can be used with any reflection based microwave sensor. In this work, the application of the reflectometer as a useful instrument to determine the moisture content in oil palm fruits using monopole and coaxial sensors was demonstrated. Calibration equations between reflection coefficients and moisture content have been established for both sensors. The equation based on phase measurement of monopole sensor was found to be accurate within 5% in predicting moisture content in the fruits when compared to the conventional oven drying method.

关键词： five-port reflectometer coaxial sensor monopole sensor graphical programming moisture data acquisition

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MEMORY MANAGEMENT FOR DATA-FLOW programming OF MULTIRATE SIGNAL-PROCESSING ALGORITHMS

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IEEE TRANSACTIONS ON SIGNAL PROCESSING 1994年第5期42卷 1190-1201页

作者： BHATTACHARYYA, SS LEE, EA Department of Electrical Enginneering and Computer Science University of California

Managing the buffering of data along arcs is a critical part of compiling a synchronous dataflow (SDF) program. This paper shows how dataflow properties can be analyzed at compile-time to make buffering more efficient. Since the target code corresponding to each node of an SDF graph is normally obtained from a hand-optimized library of predefined blocks, the efficiency of data transfer between blocks is often the limiting factor in how closely an SDF compiler can approximate meticulous manual coding. Furthermore, in the presence of large sample-rate changes, straightforward buffering techniques can quickly exhaust limited on-chip data memory, necessitating the use of slower external memory. The techniques presented in this paper address both of these problems in a unified manner.

关键词： Dataflow programming Code Generation Memory Allocation graphical programming Optimizing Compilers Multirate Signal Processing.

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A systematic approach to scientific visualization

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ENGINEERING COMPUTATIONS 2006年第7-8期23卷 898-906页

作者： Radoiu, Dumitru Enachescu, Calin Adjei, Osei Petru Maior Univ Dept Comp Sci Targu Mures Romania Univ Halle Wittenberg Dept Comp & Informat Syst Luton Beds England

Purpose - Recent technological advances have created volumes of data such that, unless some effective methods are used to analyse them, they will be either wasted or under-examined for their useful information content. Scientific data visualization is an attempt to use graphical and numerical tools to extract information contained in data and hence to allow its analysis. This paper seeks to present a systematic approach to the development of tools for scientific data visualization. Design/methodology/approach - It is shown that the approach to implement these tools involves four major steps: description of a reference model, validation of the data process, description of the software component and the design and implementation of the visualization tool. Findings - This approach is substantiated by defining conditions suitable for scientific data visualization processes, in a relaxed manner. These conditions are subsequently refined more formally. Definitions and theorems of the proofs are succinctly discussed. Originality/value - The mathematical description of the visualization process is necessary to understand and maintain some significant reduction in errors in scientific visualization processes.

关键词： physical testing graphical programming data handling

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Computer Application by Dynamic Analysis of Overcurrent Relay Coordination

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IEEE LATIN AMERICA TRANSACTIONS 2012年第4期10卷 1961-1966页

作者： Marines, V. Conde, A. UANL Mexico City DF Mexico

In this paper we present a computational tool for analyzing the dynamic operation of overcurrent relays. The analysis of operation of the overcurrent relay is complex compared to other principles of protection because the time operation is a function of the dynamics of the fault current. The main purpose of this article is geared towards the analysis of the operation of relays with different operating conditions using computational resources. The developed tool allows the evaluation of the design and implementation stages of relay allowing the analysis of the dynamic response to real or simulated events. The application proposal also allows editing of the conventional and unconventional time curves. Finally, we present some case examples to illustrate the educational activities that are possible to perform with the tool presented.

关键词： coordination overcurrent relay graphical programming

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KEEL: a software tool to assess evolutionary algorithms for data mining problems

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SOFT COMPUTING 2009年第3期13卷 307-318页

作者： Alcala-Fdez, J. Sanchez, L. Garcia, S. del Jesus, M. J. Ventura, S. Garrell, J. M. Otero, J. Romero, C. Bacardit, J. Rivas, V. M. Fernandez, J. C. Herrera, F. Univ Granada Dept Comp Sci & Artificial Intelligence E-18071 Granada Spain Univ Oviedo Dept Comp Sci Gijon 33204 Spain Univ Jaen Dept Comp Sci Jaen 23071 Spain Univ Cordoba Dept Numer Anal & Comp Sci E-14071 Cordoba Spain Univ Ramon Llull Dept Comp Sci Barcelona 08022 Spain Univ Nottingham Dept Comp Sci & Informat Technol Nottingham NG8 1BB England

This paper introduces a software tool named KEEL which is a software tool to assess evolutionary algorithms for Data Mining problems of various kinds including as regression, classification, unsupervised learning, etc. It includes evolutionary learning algorithms based on different approaches: Pittsburgh, Michigan and IRL, as well as the integration of evolutionary learning techniques with different pre-processing techniques, allowing it to perform a complete analysis of any learning model in comparison to existing software tools. Moreover, KEEL has been designed with a double goal: research and educational.

关键词： Computer-based education Data mining Evolutionary computation Experimental design graphical programming Java Knowledge extraction Machine learning

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