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In the application described here, an autonomous marine vehicle (AMV) is equipped with a 3D seismic sensor array (3DSA). The 3DSA consists of 15 hydrophones mounted on cubic frame of about 1 m in size. Various field tests and commercial projects have been conducted using autonomous vehicles as platforms, each towing a 3DSA. Often, these have been deployed during ongoing traditional seismic surveys,...
Fish-as-a-Service (FaaS) is a business-to-business model offering monitoring services performed by a biomimetic fishlike drone. FaaS considers environmental, scientific, and business concerns when addressing marine monitoring, providing alternative methodology while preserving ocean resources. The key to FaaS is the ability to provide a low-cost, low-maintenance, high-endurance, agile sensor platform...
Nowadays Chemical, Biological, Radiological and Nuclear (CBRN) agents are real threats, and they can be released from intentional and non-intentional sources. Intentional sources include weapons of mass destruction, and they can inflict serious amount of damage. CBRN non-intentional sources can go from disease outbreaks or even incidents, such as a nuclear accident. The interest for unmanned vehicles...
Path planning and on-line navigation are some of the most-studied tasks in autonomous robotics. Since cellular automata (CA) are totally discrete models, they have also been recently considered for path planning. In order that the task be performed in a more decentralized manner, a local decision making approach is used in the CA-based models, where the next move is decided based on robot's sensors...
This paper introduces a mars exploration robot based system that useful to explore the planet mars. Mars Rover NSU is a semi-autonomous robot that is developed based on sensors and interactive applications. The robot is capable of completing human assistant tasks, Astronaut assistance task, collecting resource from planet mars, giving a feedback of soils condition such as temperature, moisture, pH...
Following the integration of voice control software with a robotic system at Mississippi State University for use with a tactical team, it became clear a training tool was needed to facilitate a more natural interaction between police officers and a voice-controlled robotic platform. In order to facilitate this more natural interaction, a training tool was designed and developed, which used the same...
This paper presents the design of a stair climbing fixed flipper unmanned ground vehicle (UGV) for urban search and rescue purposes. Mobile flippers are being used in certain UGVs for enhanced mobility in rough terrains, however, the control algorithm of these platforms is complex. To add this enhanced mobility in the UGV and to reduce the intricacy of the control algorithm, anterior end of the tracks...
This article intends to provide an overview of the state of art in developmental models of cognitive robots. With the development of artificial intelligence, robots have been able to perform a variety of complex tasks controlled by human. However, it is still a challenge for robots that they can explore and develop their cognitive ability in the specific environment like human beings. The current...
Robotics is a surprisingly old discipline, and robots have shaped industry and the various industrial revolutions for many decades. This paper covers topics relevant to the IES Technical Committee on Factory Automation, focusing in particular on the evolution of industrial robotics. After providing a historical perspective on the topic, the paper addresses current and future trends, revealing the...
The digitization of industrial processes in production systems and logistics reveals new concepts of control and new techniques of information technology to solve complex problems of systems to be decentralized. The Internet of Things and the so called Industry 4.0 accompanied by their definition of architecture on the one hand and multi-agent systems with their decentralized system structure to handle...
This paper is focused on a complex robotic process called bin-picking. It is a very known and well-researched topic in the field of robotic manipulation where the robot is expected to grasp non-oriented objects from a bin and placed them to locations within the following process flow. Although we present here a functional case study of a bin-picking system based on a modified revolving vision system,...
This paper presents a new under-actuated resilient robot that has the three recovery processes available, as we proposed elsewhere. The new feature with the proposed resilient robot is such that all the recovery strategies can be accomplished in a 2D plane instead of a 3D space, thus reducing the complexity of the recovery process. The robot also has the ability of switching between a fully-actuated...
In Industry 4.0 scenarios, autonomously navigating robots will have to perform dedicated tasks in controlled environments, such as production halls or storage facilities. In the presence of pedestrians and other dynamic objects, robust collision detection is imperative in order to avoid harm of human or material. Supplementary sensors as part of the infrastructure may provide additional real-time...
This paper presents preliminary results on the development of a vision-based controller with a smart phone in the loop for autonomous vehicles. Our approach involves the use of the low cost vision sensors available on a smart phone to implement speed control for a lead-follower application, under stop-and-go traffic conditions. The controller uses fuzzy logic to determine commands based on estimated...
In this paper we present an architecture that embeds an automatic task planner into the Robotic Operating System (ROS). The plans generated by the planner are automatically converted into executable behaviour trees. These behaviour trees are used as the basis of an execution monitoring process that is able to detect when the plan fails, trying to repair it or triggering a replanning process. This...
This work presents a non parametric probabilistic mapping based on kernel estimators which does not use grids. The proposed methodology characterizes the map with a cloud of points obtained from several observations of the environment. In order to maintain a bounded number of observations in memory, a recursive subsampling algorithm is proposed. The procedure is included in an SLAM, in order to localize...
Contemporary sensor-based robotic systems tend to use an ad-hoc combination of off-the-shelf components for onboard computational needs. The number and type of sensors present, the number and organization of the onboard processors, and the algorithms utilized for processing high bandwidth real-time sensor data present researchers and designers with a wide range of choices for which they are currently...
Recent research has shown great potential in energy efficiency optimization by harvesting regenerative energy of industrial robots. This paper presents further insight into how dependent regenerative energy is on the mass of the robot tool, as well as how the total regenerative energy is distributed between various robot links.
Modern day automated systems within industry used fixed programming methods to control their systems. This ensures error-free and quick operation resulting in quick product creation. While this method is assuring for a fixed product line, it requires changes to be made when introducing different or new products on the same assembly system. The RobotSensorInterface (RSI) system allows an external sensor...
Stimulating interest in science, technology, engineering and mathematics (STEM) among learners in developing countries remains a challenge, as schools often do not have the specialised skills or funds required to develop exciting STEM-related programmes like robotics. The RobotScienceproject at University of Johannesburg (UJ) TechnoLab aims to support South African schools with a cost effective, open...
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