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This paper focuses on the key role played by the adoption of a framework in teaching robotics with a computer science approach in the master in Computer Engineering. The framework adopted is the Robot Operating System (ROS), which is becoming a standard de facto inside the robotics community. The educational activities proposed in this paper are based on a constructionist approach. The Mindstorms...
Robotics competitions allow self-organised learning in a quite natural way. In the last years, we have observed an increasing complexity in these competitions. At the same time, the search for an adequate project organisation became more and more important. As traditional project organisa tion methods failed, we adopted Scrum and tried to adapt this agile methodology to student projects.
Computer vision is one of the main research fields for micro air vehicles. Therefore many teams around the globe are developing different camera systems which are directly mounted on a MAV or observe and track it from a fixed position. This paper presents a simple and cheap solution for a precise 40 gram onboard computer vision system based on a 6 gram Gumstix Overo Firestorm computer, a 23 gram infrared...
The growing realization of the benefits to individual students and to state economies, of providing science learners with opportunities to expand their knowledge, skills and experience of knowledge-based technological design has led to seeking instructional strategies to facilitate the transition from traditional school settings to project based learning environments. This paper refers to engaging...
This paper introduces an educational robotics course offered as one of the Interdisciplinary Studies Courses under General Education category at a liberal art college that serves predominately underprivileged population of students from neighboring communities in New Jersey. It also presents the case study to examine participated students’ learning from the course. The results show that, although...
Arrangements for a competition are not only difficult in terms of logiscs of the event, but also require an assurance of quality. In this paper we analyze limitations which arise from design of the contest for robots equipped with a very poor sensor set. This issue is faintly explored – up to now research work usually has focused on results of a certain task and in addition it assumed almost having...
This paper describes our experience with introducing modern robotics through Robot Operating System. ROS framework allows rapid robot prototyping and gives access to many state-of-the-art robotic solutions. It is however, software oriented and requires its users to understand well software development ideas and methods. While teaching undergraduate students ROS, we came up with some solutions how...
Practical engineering education in space technology is a major challenge. TU Berlin has collected many years of experience in educating prospective space system engineers. With its history of developing and operating real space missions and its many ongoing research activities in the field, students are provided the opportunity to experience space technology. The Chair of Space Technology adresses...
A mobile robot simulator useful in research and education was implemented in Matlab, it models the differential kinematics as well as proximity sensors of the robot. It allows the performance assessment of navigation algorithms through various quality metrics that are useful for comparing and analyzing navigation algorithms of mobile robots. An example that simulates and compares two autonomous navigation...
In the paper the basic questions connected with modeling of wastewater networks are presented. Methods of modeling basic sewage parameters and appropriate calculation algorithms are described. The problem concerns the gravitational networks divided by nodes into branches and sectors. The nodes are the points of connection of several network segments or branches or the points of changing network parameters...
The paper deals in the conceptual way with the problem of extracting fuzzy classification rules from the three-way data meant in the sense of Sato and Sato [7]. A novel technique based on a heuristic method of possibilistic clustering is proposed. A description of basic concepts of a heuristic method of possibilistic clustering based on concept of an allotment is provided. A preprocessing technique...
Localization in an unknown environment is one of the major issues faced by autonomous vehicles. The solution to this problem is delivered by the Simultaneous Localization and Mapping techniques, commonly known as SLAM. SLAM is the category of algorithms allowing a robot to map the surroundings and to keep an estimate of its position. Nowadays several SLAM methods are widely used. Though, many issues...
In this paper a model of the dynamics of four-rotor flying robot is described in details. Control design must be preceded by the modeling and subsequent analysis of the robot behavior in simulator. It is therefore necessary to develop the mathematical model as accurate as it is possible. The paper contains a detailed derivation of the mathematical model in the context of physics laws affecting the...
A robot manipulator is a multi-articulated mechanical system, in which each articulation is driven individually by an electric actuator. As the most used robot in industrial application, this system needs an efficient control strategy such as the classical PID control law by means of which each articulation is controlled independently. This kind of control presents a lot of inconvenient, such as error...
Computer aided methods for investigation of the asymptotic stability of 2D discrete linear systems described by the first Fornasini-Marchesini model are given. The methods require computation of eigenvalues of complex matrices or values of complex functions. Effectiveness of the stability tests are demonstrated on numerical examples.
The paper deals with the problem of selection of the most informative features. A new effective and efficient heuristic possibilistic clustering algorithm for feature selection is proposed. First, a brief description of basic concepts of the heuristic approach to possibilistic clustering is provided. A technique of initial data preprocessing is described and a fuzzy correlation measure is considered...
In this paper, an alternative framework for data analytics is proposed which is based on the spatially-aware concepts of eccentricity and typicality which represent the density and proximity in the data space. This approach is statistical, but differs from the traditional probability theory which is frequentist in nature. It also differs from the belief and possibility-based approaches as well as...
In the article the neural networks used for failures location for water supply networks are presented. To do this a hydraulic model of the water net, as well as an appropriate developed monitoring system have to be used. The current applications of monitoring systems installed in the waterworks do not realize their possibilities. The monitoring systems provided as autonomic programs to collect and...
Mobile, personal devices are getting more capable every year. Equipped with advanced sensors, mobile devices can use them as a viable platform to implement and test more complex algorithms. This paper presents an energy-efficient person localization system allowing to detect already visited places. The presented approach combines two independent information sources: wireless WiFi adapter and camera...
Face detection which is a challenging problem in computer vision, can be used as a major step in face recognition. The challenges of face detection in color images include illumination differences, various cameras characteristics, different ethnicities, and other distinctions. In order to detect faces in color images, skin detection can be applied to the image. Numerous methods have been utilized...
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