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Handling of deformable objects with industrial robots holds many unresolved challenges. Especially, describing and predicting the deformed state is computationally expensive and therefore difficult under the requirements of manufacturing environments. A concept for a simulation-based approach towards bin picking of deformable objects, is presented in this paper. The emphasis of the approach lies on...
Body segment inertial parameters of an exoskeleton and human being are of crucial importance for the development of model-based controllers and for the monitoring of rehabilitation processes. These parameters are usually provided using Computer Aided Design (CAD) models or averaged Anthropometric Tables (AT) for human. However, CAD models are often not sufficiently accurate and particularly if the...
Hierarchical Temporal Memory (HTM) is a computational model of the neocortex that is capable of online learning to predict and detect anomalies from continuous data streams. To make HTM also available on power-constrained robot systems, we investigate the feasibility of implementing the model on SpiNNaker, a fully programmable energy-efficient neuromorphic many core system. Our contribution is twofold:...
In this paper we propose a new hardware architecture for the implementation of an artificial neuron based on organic memristive elements and operational amplifiers. This architecture is proposed as a possible solution for the integration and deployment of the cluster based bio- realistic simulation of a mammalian brain into a robotic system. Originally, this simulation has been developed through a...
Forests are important part of the ecosystem and play a significant role to preserve and maintain the environment. The main hazard is the forest fires because its consequences are terrible in nature. Therefore, there is a need to detect fire and extinguish before it spreads to destroy the resources. For this purpose, Forest Fire Detection and Extinguishing Algorithm (FFDEA) using Wireless Sensor and...
The effectiveness of robot interaction depends on the robot's ability to perform task-relevant actions and on the degree to which it is able to predict the outcomes of these actions. In this paper we argue that the two learning problems - learning actions and learning forward models - must be tightly coupled for each of them to be successful. We present an approach that is able to learn a set of continuous...
In robotic navigation, biologically inspired localization models have often exhibited interesting features and proven to be competitive with other solutions in terms of adaptability and performance. In general, place recognition systems rely on global or local visual descriptors; or both. In this paper, we propose a model of context-based place cells combining these two information. Global visual...
We study conditions for sustained growth of complexity in an abstract model of parasitic coevolution. Previous research has found that complexification is hard to achieve if the evolution of the symbiont population is constrained by the hosts but the evolution of the hosts is unconstrained, or, more generally, if the task difficulty is much higher for the symbionts than for the hosts. Here we study...
Face to face interaction is vital to social learning, however detailed interactive models which capture the richness and subtlety of human expression do not currently exist. As a step towards this goal, this paper gives an overview of the novel approach we are taking to develop BabyX, an experimental computer generated psychobiological simulation of an infant combining models of the facial motor system...
Models are used in control domains for early validation of system properties, using simulation or formal verification, and for the automatic generation of a software implementation. We propose an approach in which a functional model of the controls is matched to a model of the execution platform through an intermediate mapping model, that represents the software tasks and communication messages. The...
Essentially, a truly autonomous mobile robot be capable of finding its own path from start to goal location without colliding with any obstacles. This paper investigates the effectiveness of a robot path planning technique that utilizes Laplacian Behaviour-Based Control (LBBC) for robot control and uses Laplace's Equation for generating potential function in the configuration space model. The robot...
We evaluate the use of continuum kinematics with constant curvature as a kinematic model for Festo's “Bionic Handling Assistant” (BHA). We introduce a new, elegant, and parameterless method to deal with geometric singularities in stretched positions, which allows to capture pure elongations that are not naturally expressed by the toroidal deformations underlying the constant curvature assumption....
In this paper, we present a novel path planning algorithm based on properties that reaction-diffusion (RD) models exhibit by the underlying non-linear dynamics of the considered system. In particular herein considered a two-variable RD model provides advantages of natural parallelism, noise resistance, and especially the non-annihilating feature that traveling fronts separating two stable states exhibit...
This paper presents the general structure and implementation features of the original complex software for command and control of the anthropomorphic gripper for robots. The software has three modules: RoboVISION, RoboSIM and RoboCOMMANDER. RoboVISION is a software module for tracing, visualization, shape recognition, measurement, and efficiency evaluation for 3D model generation of objects to grip...
This paper presents a path planning algorithm for robotic assisted stitching. The method uses a nonlinear model for curved needle — soft tissue interaction. The proposed method can be used for autonomous robotic suturing. The performance of the algorithm was assessed through simulations and experiments. The experimental results illustrate that the path planned curved needle insertions are fifty percent...
The complexity of technical systems is constantly increasing. To manage the amount of data several strategies have been followed and a lot of achievements were made especially in artificial intelligence. But still the capabilities of human intelligence are unrivaled. The contribution of this article is an introduction to a decision unit based on psychoanalytical models and a description how the findings...
In this paper, multibody system dynamics simulation for manipulators and legged robots with high joint elasticities, particularly with focus on collision modeling, is addressed. We present the architecture of a newly developed toolbox in conjunction with a detailed discussion of a realistic contact, friction and stiction model, which is validated with real measurement data of a bouncing ball. The...
Interactive robots are required to have minimal footprint on the shop floor and to be able to work in constrained areas while ensuring the safety of the humans. To this end, modeling of an unstructured environment including the humans is an indispensable part of the online control schemes deployed in such robots. In this regard, a new approach is proposed for generating an efficient model of the human...
Model-based diagnosis has a great advantage compared to other diagnostic methods. However, there are some problems existed in model-based method like large complexity, inefficient. This paper studies a state searching method using system conflicts to exclude large invalid state space and speed up the search procedure. All the tested candidate states are generated in best first order and expanded to...
An improved PSO algorithm which is applied to mobile robot path planning is proposed. In this paper, we use the grid method to decompose two-dimensional space of the robot path to build the path space model. Using this method is simple and easy to achieve computer modeling, storing, processing, updating and analyzing. It can make the pairs of particles in the algorithm exchange information by leading...
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