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The Tomatis Method is a rehabilitation technique used in psychology, the main aim of which is stimulating the cochlea in the inner ear by filtered air-conducted and bone-conducted sounds. The system of electronic filters and amplifiers used for this therapy is called the Electronic Ear. Commonly, it is a commercial analog device that is expensive and after a few years its functionality declines. In...
In this paper, we describe the design and analysis of a Soft Cubic Module (SCM) with a single internal pneumatically actuated chamber. The actuation chamber’s shape, size and, orientation have been evaluated to realize a soft robotic actuator which can be further employed for the development of modular soft robotic systems. SCM can be easily manufactured through the molding process and it is composed...
First aim of this paper is to describe a methodology developed to create virtual fragments of archeological archetypes in CAD (Computer Aided Design) environment. A simple Reverse Engineering (RE) technique was adopted to reconstruct the shape of vases allowing the archeologists, and so the CAD inexpert personnel, to use it. Moreover, another relevant aspect is the definition of a procedure to simulate...
With the growing presence of robots in human populated environments, it becomes necessary to render their presence natural, rather than invasive. To do that, robots need to make sure the acoustic noise induced by their motion does not disturb people nearby. In this line, this paper proposes a method that allows the robot to learn how to control the amount of noise it produces, taking into account...
The article describes standard safety-protection layers according to EN 61511 standard. Their aim is to reduce risk, thus to decrease the frequency of occurrence of threatening incidents and/or consequences of such incidents. The aim of the article was to present currently developed means of increasing process safety, which are not included in the standards. There are described: advisory diagnostic...
In order to be fully autonomous, robots have to be resilient so that they can recover from damages and operate for a long period of time with no human assistance. To be resilient, existing approaches propose to change the robots’ behavior using a different control system when a hardware fault or damage occurs. These approaches are used for robots which have fixed morphologies. However, we cannot assume...
Several problems related to work reliability appear while building service-oriented systems. The first problem consists of the lack of static typing and the lack of interservice data type checking. The second one consists of the high connectivity of services. The article shows an example of the strong and static polymorphic type system and the type check algorithm. The service-contract and the contract...
In this article, the one DOF robot manipulator control is assessed through second type robust fuzzy-adaptive controller. The objective is to obtain a tracking path with appropriate accuracy. The stability of the closed loop system is verified through Lyapunov stability theory and the efficiency of tracking is analyzed subject to the constraints and uncertainty. In order to design the fuzzy controller...
The deployment of appropriate technologies to enhance modern agricultural practices and improve crop yields is imperative for sustainability. This paper presents the development of a standalone automated irrigation system. The system design features good automation and control, which was achieved using an array of electronic timing system, soil feedback sensor and wireless communication system. Autonomous...
Knowing how to identify terrain types is especially important in the autonomous navigation, mapping, decision making and emergency landings areas. For example, an unmanned aerial vehicle (UAV) can use it to find a suitable landing position or to cooperate with other robots to navigate across an unknown region. Previous works on terrain classification from RGB images taken onboard of UAVs shown that...
Visual odometry estimates the transformations between consecutive frames of a video stream in order to recover the camera’s trajectory. As this approach does not require to build a map of the observed environment, it is fast and simple to implement. In the last decade RGBD cameras proliferated in roboTIcs, being also the sensors of choice for many practical visual odometry systems. Although RGB-D...
Authors present the kinematic structure of measurement arm along with its construction for efficient estimation of orientation and position of the manipulator using extended Kalman filter. The major innovation of the arm is that it only uses accelerometers as gravity sensors for determining relative positions of the links. This article presents the problem of position estimation based on measurements...
The article presents the main functionalities and principles for operating a software for multi-robotic mission coordination developed for competitions ERL Emergency Robots 2017, as well as its adaptation during University Rover Challenge. We have started with an overview of similar software used in commercial applications or developed by other research groups. Then, our solution is thoroughly described,...
This paper addresses the problem of position-force control for robot manipulators under geometric endpoint constraints defined as round obstacles. Considerations are based on hybrid position-force control and use modified Arimoto algorithm with the principle of ”orthogonalisation”. To achieve so-called joint space orthogonalisation, where motion signals are orthogonal to force vectors and the direction...
The paper describes how to use ArUco markers to determine the position and orientation of wheeled robots in 3D space. it is preceded by a general description on the testbed and a detailed description on the marker detection algorithm along with the camera calibration using the ChaArUco markers. The camera has been described and calibrated using the pinhole camera model, taking into account distortion...
We describe simple to build mechanomyography sensors, with one or two channels, based on electret microphones. We evaluate their application as a source of information about the operator’s hand stiffness, which can be used for changing a robot’s gripper stiffness during teleoperation. We explain a data acquisition procedure for further employment of a machine-learning. Finally, we present the results...
The article presents a control algorithm of a robotic manipulator used as the main component of a system for a remote noninvasive medical ultrasound examination. This algorithm has been developed within the ReMeDi (Remote Medical Diagnostician) project. At the beginning of the article, the manipulator kiinematics, its mechanical construction and the control system structure as a part of the telemanipulation...
The work discusses the construction of a measurement system for determining the relationship between EMG signals and hand grip movements. The relationship is necessary for the synthesis of control of the hand bioprosthesis. The measurement system is based on commercial Myo armband with EMG signals sensors and sensory glove with bend and pressure sensors. There are presented possibilites, advantages...
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