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The following topics are dealt with: practical robot application; medical robotics; rehabilitation robotics; military robotics; security robotics; power technology; communication technology; mobile robot navigation; actuation and manipulation; consumer robotics and sensing technique.
The IEEE International Conference on Techniques for Practical Robotics Applications is a new conference aimed at catalyzing the development of enabling technologies and encouraging their adoption by robot designers. With an emphasis on practical applications and industrial participation, TePRA provides researchers, innovators, entrepreneurs, and robotics professionals a well-balanced platform between...
The number of persons age 65 and older will increase dramatically in the next 2 decades and by 2030 this group will comprise 20% of the U.S. population. Since the incidence of disability increases with age, there will be an increased need for robotic assistive devices. The design process for robotic assistive devices differs significantly from the design of autonomous robots. This paper reviews the...
The work presented in this paper has been performed in furtherance of developing an MRI (Magnetic resonance imaging) compatible fiber optical force sensor. In this paper, we discuss the design criteria and sensing principle of this optical sensor for monitoring forces in the 0-20 Newton range with an sub-Newton resolution. This instrumentation enables two degrees-of-freedom (DOF) torque measurement...
In robot-assisted surgery, haptic feedback is ongoing issue. The breaking of surgical suture material and the damage of tissue are avoidable with haptic feedback. This paper is proposing to add haptic feedback in the da Vinci like robot using unmodified da Vinci surgical instrument. To overcome the restriction of space and difficulty in measuring the force at the end-effector, the torque sensor-motor...
The requisite cabling and control processing for surgical robots can become unwieldy as dexterity is increased, due to the additional degrees of freedom. Motivated by dexterous snake-like robots for minimally invasive surgery, this paper details the development of a low-level control system that uses IEEE 1394 (FireWire), linking the computer to low-latency field-programmable gate arrays, to distribute...
This paper deal with the motion of the two-wheeled mobile robot (TWMR) from point to point, moving towards its destination. The motion of the four TWMR is simulated with object oriented simulation by using kinematic model of mobile robot. The TWMR follows the shortest path and reaches its destination with required intermediate points to visit in between. The shortest path taken by the TWMR is analyzed...
An Autonomous Mobile Robot (AMR) is a machine able to extract information from its environment and use knowledge about its world to move safely in a meaningful and purposeful manner. Robot Navigation and Obstacle Avoidance are from the most important problems in mobile robots, especially in unknown environments. It must be able to interact with other objects safely. Several techniques such as Fuzzy...
We present an implementation of the Speeded Up Robust Features (SURF) on a Field Programmable Gate Array (FPGA). The SURF algorithm extracts salient points from image and computes descriptors of their surroundings that are invariant to scale, rotation and illumination changes. The interest point detection and feature descriptor extraction algorithm is often used as the first stage in autonomous robot...
As time progresses, it is likely that the demand for the ability of robotic assembly solutions to self-tune will steadily grow, and companies will invest more in automation technologies for manufacturing. In this study we present a method that employs computational learning to generate internal models for online optimization acceleration of a genetic algorithms approach of exploring a parameter space...
We propose a common set of validation benchmarks and a reference algorithm that provide ground-truth for comparative analysis of multi-source robot localization algorithms for large scale applications. The benchmarks capture the primary first-order attributes of the general problem: source characterization and distribution, initial robot distributions, and dead space. The biased random walk (BRW)...
In many practical robotics problems, knowledge of the team configuration and capabilities is crucial in coordination of multiple heterogeneous robots. In a challenging environment with costly, sporadic, or absent communication, inferencing based on observed spatio-temporal state transitions is necessary for learning and reasoning. In this paper, we present a general purpose inference engine that takes...
This paper describes an early phase towards a general, holistic, distributed robotic architecture capable of supporting different domain specific tasks autonomously or semi-autonomously on multiple platforms. Rather than focusing on individual components and algorithms, we take a systems level approach striving for a task-independent architecture. Our ultimate goal is to employ autonomous scouts that...
Many operations require an area search area function, including search-and-rescue, surveillance, hazard detection, structures or sites inspection and agricultural spraying. Furthermore, these area search applications often involve varying vehicle and environmental conditions. This paper explores the problem of optimizing the behavior of a swarm of heterogeneous robotic vehicles executing a search...
The nature has a beautiful source of inspiration for reaching invisibility. Jellyfish are well-known sea creatures that are transparent and look transparent so that they are almost invisible in seawater. Consider flat fishes such as winter flounders that hide themselves from predators by adapting their skin pigments according to the background environment, cells, located in the dermis and epidermis...
This paper describes the design and construction of a low cost Autonomous Underwater Vehicle (AUV) prototype that can work as launch platform of a small UAV. The AUV can travel in a determined path to reach the launch AUV point. The AUV length is less than 2 m. The max operation depth is 20 m. It is composed of eight modules: propulsion, power, motor driver, CPU, sensor suite, camera system, communication...
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