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17th IEEE International Carpathian control Conference, ICCC 2016

作者： David, Fojtík Petr, Podešva Miroslav, Mahdal Milan, Mihola Department of Control Systems and Instrumentation VSB-Technical University of Ostrava Ostrava Czech Republic Department of Control Systems and Instrumentation Department of Robotics VSB-Technical University of Ostrava Ostrava Czech Republic

ISBN: (纸本)9781467386067

In general, this article deals with the problem of the scanning of moving objects into 3D models by using a group of 2D laser scanners. The main focus of this article is a description of a specially developed driver *** framework for the SICK LMS 400 group of laser scanners and a hardware module for their synchronization. Both the driver and the module were deployed at MONDI in Ruzomberok, Slovakia, for scans passing through trucks loaded with wood for the purpose of safety inspection of cargo. © 2016 IEEE.

关键词： Trucks

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High-definition event frame generation using SoC FPGA devices 26

High-definition event frame generation using SoC FPGA device...

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26th IEEE Signal Processing: Algorithms, Architectures, Arrangements, and Applications, SPA 2023

作者： Blachut, Krzysztof Kryjak, Tomasz AGH University of Krakow Embedded Vision Systems Group Department of Automatic Control and Robotics Krakow Poland

ISBN: (纸本)9798350304985

In this paper we have addressed the implementation of the accumulation and projection of high-resolution event data stream (HD - 1280×720 pixels) onto the image plane in FPGA devices. The results confirm the feasibility of this approach, but there are a number of challenges, limitations and trade-offs to be considered. The required hardware resources of selected data representations, such as binary frame, event frame, exponentially decaying time surface and event frequency, were compared with those available on several popular platforms from AMD Xilinx. The resulting event frames can be used for typical vision algorithms, such as object classification and detection, using both classical and deep neural network methods. © 2023 Division of Signal Processing and Electronic systems, Poznan University of Technology (DSPES PUT).

关键词： System-on-chip

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Cooperative Multi-robot Box Pushing Inspired by Human Behaviour

Cooperative Multi-robot Box Pushing Inspired by Human Behavi...

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12th Annual Conference on Towards Autonomous Robotic systems, TAROS 2011

作者： Chen, Jianing Groß, Roderich Natural Robotics Lab Department of Automatic Control and Systems Engineering The University of Sheffield Sheffield United Kingdom

ISBN: (纸本)9783642232312

This paper investigates mechanisms underlying cooperative behaviour in a group of miniature mobile robots around the problem of coordinating a group of robots to push collectively a heavy object. Numerous solutions to this problem have been proposed [5,7,4]. The performance of these however typically deteriorates as the number of robots increases to more than a dozen. The cause of this is often said to be robot interference—there are many robots but insufficient space to manipulate the object effectively. The situation is particular difficult when the object itself occludes the view of robots [3]. In this case, robots can benefit from division of labour (e.g., see [2]). Here, we take inspiration of the division of labour in teams of humans pushing a large object towards a target location: persons who can see the target push the box only when the transporting direction needs to be corrected, while all other persons simply push the box forward. The two roles in this cooperation are indicated in Fig. 1(a). © 2011, Springer-Verlag Berlin Heidelberg.

关键词： Behavioral research

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Vision-Based Segregation Behaviours in a Swarm of Autonomous Robots

Vision-Based Segregation Behaviours in a Swarm of Autonomous...

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12th Annual Conference on Towards Autonomous Robotic systems, TAROS 2011

作者： Price, Michael J. Groß, Roderich Natural Robotics Lab Department of Automatic Control and Systems Engineering The University of Sheffield Sheffield United Kingdom

ISBN: (纸本)9783642232312

The accelerating development and usage of autonomous robots has led to increased interest in decentralised systems and the cooperation of individual elements within a swarm, in particular the ability to self-organise and form patterns or self-segregate. Such segregation is readily exhibited in nature, as highlighted by prior work looking at the collective sorting of brood items by ant colonies [1,3]. This work focuses on the ability of robots to spatially segregate themselves. In particular, it takes inspiration primarily from the Brazil nut effect [6], which is responsible for the emergent striped patterns observed when a container holding particles of different sizes is agitated. © 2011, Springer-Verlag Berlin Heidelberg.

关键词： Robots

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Forming Nested 3D Structures Based on the Brazil Nut Effect

Forming Nested 3D Structures Based on the Brazil Nut Effect

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12th Annual Conference on Towards Autonomous Robotic systems, TAROS 2011

作者： Foster, Stephen Groß, Roderich Natural Robotics Lab Department of Automatic Control and Systems Engineering The University of Sheffield Sheffield United Kingdom

ISBN: (纸本)9783642232312

This study investigates the formation of nested structures in swarms of intelligent agents that can freely move in three dimensions. The underlying segregation mechanism is inspired by the Brazil nut effect, which occurs when granular mixtures are subjected to vibrations [6,1]. Similar effects were reported for brood items sorted by ants [3]. This sorting behaviour was validated with swarms of mobile robots [7,5]. Different from these studies we are concerned with sorting the agents themselves. In [4], we proposed a controller based on the Brazil nut effect that was capable of segregating groups of simulated e-puck robots reliably in two dimensions. In the present study, we investigate a 3D particle system implemented in NetLogo1. The agentsmimic the behaviour of particles of distinct sizes. The motion of each agent is determined by three types of vectors [4]: (i) a repulsion vector for every agent that intrudes the particle’s virtual body, (ii) a random vector simulating vibrations, (iii) and a "gravitational" vector that points to a "centre" location. The agents do not communicate. However, the repulsion behaviour requires them to sense each others’ relative positions within their particle range. The segregation quality is measured as the percentage of pairs of particles from different groups that are segregated correctly (based on distance to centre) [4]. A value of 100% corresponds to perfect structures with all large agents surrounding the small agents, 50% corresponds to purely random structures, whereas 0% corresponds to perfect but inverted structures. © 2011, Springer-Verlag Berlin Heidelberg.

关键词： Vectors

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Segregation in swarms of e-puck robots based on the Brazil nut effect

Segregation in swarms of e-puck robots based on the Brazil n...

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11th International Conference on Autonomous Agents and Multiagent systems 2012: Innovative Applications Track, AAMAS 2012

作者： Chen, Jianing Gauci, Melvin Price, Michael J. Groß, Roderich Natural Robotics Lab. Department of Automatic Control and Systems Engineering University of Sheffield United Kingdom

ISBN: (纸本)9781627481564

When a mixture of particles with different attributes undergoes vibration, a segregation pattern is often observed. For example, in muesli cereal packs, the largest particles-the Brazil nuts-tend to end up at the top. For this reason, the phenomenon is known as the Brazil nut effect. In previous research, an algorithm inspired by this effect was designed to produce segregation patterns in swarms of simulated agents that move on a horizontal plane. In this paper, we adapt this algorithm for implementation on robots with directional vision. We use the e-puck robot as a platform to test our implementation. In a swarm of e-pucks, different robots mimic disks of different sizes (larger than their physical dimensions). The motion of every robot is governed by a combination of three components: (i) attraction towards a point, which emulates the effect of a gravitational pull, (ii) random motion, which emulates the effect of vibration, and (iii) repulsion from nearby robots, which emulates the effect of collisions between disks. The algorithm does not require robots to discriminate between other robots;yet, it is capable of forming annular structures where the robots in each annulus represent disks of identical size. We report on a set of experiments performed with a group of 20 physical e-pucks. The results obtained in 100 trials of 20 minutes each show that the percentage of incorrectly-ordered pairs of disks from different groups decreases as the size ratio of disks in different groups is increased. In our experiments, this percentage was, on average, below 0.5% for size ratios from 3.0 to 5.0. Moreover, for these size ratios, all segregation errors observed were due to mechanical failures that caused robots to stop moving. Copyright © 2012, International Foundation for Autonomous Agents and Multiagent systems (***). All rights reserved.

关键词： Multipurpose robots

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Proprioceptive Force Sensing Adapted on High-Ratio Custom Actuators in Quadrupedal Walking Robot 21

Proprioceptive Force Sensing Adapted on High-Ratio Custom Ac...

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21st IEEE International Carpathian control Conference, ICCC 2020

作者： Wasilewski, Piotr Gradzki, Rafal Bialystok University of Technology Department of Automatic Control and Robotics Bialystok Poland Bialystok University of Technology Department of Automatic Control and Mechatronic Systems Bialystok Poland

ISBN: (纸本)9781728119519

Proprioceptive force sensing is a common practice among quadruped robot designers as it requires no additional components mounted on the legs. Yet it is usually adapted with actuators that have relatively low mechanical gear ratio, lower than 10:1. Tests performed in this paper show the proprioceptive technique adapted on a custom 22:1 brushless actuator with cycloidal gear. The aim is to successfully use this technique for setting and measuring forces acting on the end effector of the leg in order to detect contacts and perform a rough force control. © 2020 IEEE.

关键词： Mechanical actuators

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Optimized 3D Drone Placement and Resource Allocation for LTE-Based M2M Communications 91

Optimized 3D Drone Placement and Resource Allocation for LTE...

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91st IEEE Vehicular Technology Conference, VTC Spring 2020

作者： Fahim, Ahmed Gadallah, Yasser Robotics Control and Smart Systems American University in Cairo Department of Electronics and Communications Engineering New Cairo11835 Egypt

ISBN: (纸本)9781728152073

The deployment of drone-mounted communication systems has received increasing interest and attention recently as it allows significant improvement to the network access capacity and coverage. Many applications can benefit from such deployments in particular machine-to-machine (M2M) communications. In this study, we propose a technique for the rapid deployment of an LTE drone-mounted base station to serve a group of machine-type-communication devices (MTCDs) that are deployed in disaster situations or within remote applications. The objective is to maximize the number of served MTCDs while meeting their transmission delay requirements. This results in optimizing the 3D placement of the drone base station as well as the allocation of the available communication resources. We evaluated the proposed technique through several simulation experiments. The simulation results demonstrate significant improvement in the aggregate system throughput and the overall system deadline missing performance along with the increased number of served MTCDs compared to other drone placement approaches. © 2020 IEEE.

关键词： Machine-to-machine communication

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Development and Evaluation of a Wearable Lower Limb Rehabilitation Robot

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Journal of Bionic Engineering 2022年第3期19卷 688-699页

作者： Wanting Li Keping Liu Chunxu Li Zhongbo Sun Shui Liu Jian Gu Department of Control Engineering Changchun University of TechnologyChangchun130012China Centre for Robotics and Neural Systems University of PlymouthPlymouthPL48AAUK School of Mechatronical Engineering Changchun University of TechnologyChangchun130012China

This paper introduces a rigid-flexible coupling wearable exoskeleton robot for lower limb,which is designed in light of gait biomechanics and beneficial for low limb movement disorders by implementing gait *** rationality of the proposed mechanism is shown with the implementation of the dynamic simulation through MSC *** the purposes of lightweight,the exoskeleton mechanism is optimized through finite element *** can be concluded from performance evaluation experiment,the mechanism has certain advantages over existing exoskeleton robots,namely,comfortable,lightweight,low cost,which can be utilized for rehabilitation training in medical institutions or as a daily-walking ancillary equipment for patients.

关键词： Wearable rehabilitation robot Biomechanics Robot mechanism design Virtual analysis

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Output-feedback-based affine formation manoeuvre control of multi-agent systems applying negative imaginary systems theory 63

Output-feedback-based affine formation manoeuvre control of ...

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63rd IEEE Conference on Decision and control, CDC 2024

作者： Su, Yu-Hsiang Bhowmick, Parijat Lanzon, Alexander Iit Guwahati Department of Eee Assam 781039 India University of Manchester Control Systems and Robotics Group Department of Eee United Kingdom

ISBN: (纸本)9798350316339

This paper exploits the Negative Imaginary systems theory to develop a novel affine formation manoeuvre control framework for multi-agent systems using dynamic output feedback. The framework begins by deriving affine transformation matrices for leader agents, enabling dynamic adjustments from the nominal formation to the target formation. An output-feedback distributed Strictly Negative Imaginary control law is then proposed for follower agents to achieve affine formation manoeuvres. Unlike existing affine formation manoeuvre control schemes, which typically rely on full-state feedback (including both position and velocity measurements), the proposed approach requires only relative position measurements. In addition, it offers more freedom in choosing a dynamic controller transfer function, thereby improving formation tracking performance. A comprehensive simulation case study is provided to test the effectiveness of the proposed output-feedback-based affine formation manoeuvre control framework. © 2024 IEEE.

关键词： Affine transforms

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