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This paper introduces our new AUV HATTORI and scanning sonar based terrain tracking algorithm implemented in the vehicle. The AUV HATTORI (Highly Agile Terrain Tracker for Ocean Research and Investigation) is a lightweight and low-cost testbed designed for rapid and efficient imaging of rugged seafloor, such as coral reefs. Most of current AUVs suitable for seafloor imaging are heavy and expensive,...
This paper show how neural networks, configured for regression, can be used to learn the relationships between Inertial Motion Unit (IMU) data collected on a robotic platform and the robot's commanded system state. By learning how the IMU data relates to commanded robot state we can use the neural network to predict what commands have been issued to the robot. By comparing the prediction to the actual...
This paper presents the design and fabrication process of a soft-bodied gripper with integrated curvature sensors for shape control. The soft gripper contains three identical fingers based on the principle of fluid elastomer actuator. Each of the finger is made of silicon rubber, named Dragon Skin, and is connected to a robotic arm by a snap-lock mechanism. Grasping ability of the soft-bodied gripper...
Interaction with non-rigid objects poses a challenge for manufacturing systems. The dimensions, locations and physical properties of soft-tissue objects like fruit or meat are subject to considerable variation and uncertainty. Possible ways to accommodate this are to use a number of different types of sensors and actors. However, a control system physically located next to a manufacturing system is...
This paper describes the approach taken by the team from the Robotic Intelligence Laboratory at Jaume I University to the Amazon Robotics Challenge 2017. The goal of the challenge is to automate pick and place operations in unstructured environments, specifically the shelves in an Amazon warehouse. RobInLab's approach is based on a Baxter Research robot and a customized storage system. The system's...
Vision is a potent source of information, not just for humans, but for robots as well. Processing visual information is a computationally expensive task, one that is often difficult to accomplish in real-time on embedded hardware. In the broad field of visual research exists egomotion estimation, the process of determining self-motion from optical flow. Here we show a technological adaptation and...
A common scenario in Search and Rescue robotics is to map and patrol a disaster site to assess the situation and plan potential missions of rescue teams. Particular importance has to be given to changes in the environment as these may correspond to critical events like building collapses, movement of objects, etc. This paper presents a change detection pipeline for LiDAR-equipped robots to assist...
The artificial companion conversation (ACC) will play an important supporting technique for foremost challenges of our society. In this paper, we introduce an implementation of ACC on Android-based robot. The proposed architecture is designed for human to machine interaction which supports speech interaction, vision interaction with face and expression recognition, and knowledge learning and planning...
Our goal is to automatically detect which direction a child is facing based on a single, simple overhead picture, and track that direction across time. Engaging in joint attention, which is the shared focus of two individuals on some object of interest, is a strong cue of typically developing children, and the lack thereof can be an indicator of autism spectrum disorder or other pervasive developmental...
This paper proposes and analyzes the use of the Arduino Zero board as the lab platform for the Computer Structure course that constitutes an essential part of Computer Science studies. The understanding of the main functional blocks of a computer, addressing the main concepts included in the course syllabus, is reinforced by mean of the hands-on experience acquired in the lab sessions and the completion...
This paper presents an implementation of a system that is autonomously able to find, follow and land on a car moving at 15 km/h. Our solution consists of two parts, the image processing for fast onboard detection of landing platform and the Model Predictive Control tracker for trajectory planning and control. This approach is fully autonomous using only the onboard computer and onboard sensors with...
The energy-efficient intelligent networking becomes step-by-step one of the most important components of the 4th-industrial revolution called “Industry 4.0”. The paper discusses how active deployment of modern networks stimulates the further development of IoT and fog computing. The processes of the involving of IoT and fog will be curry out in mid-term, within a few next years. Some case studies...
In this paper, we present a publicly available dataset for the evaluation of indoor positioning algorithms that use magnetic anomalies. Our dataset contains IMU and magnetometer measurements along with ground truth position measurements that have centimeter-level accuracy. To produce this dataset, we collected over 13 hours of data (51 kilometers of total distance traveled) from three different buildings,...
Military vehicles are important part to maintain territories of a country. Military vehicle is often equipped with a gun turret mounted on top of the vehicle. Traditionally, gun turret is operated manually by an operator sitting on the vehicle. With the advance of current robotic technology an automatic operation of gun turret is highly possible. Notable works on automatic gun turret tend to use features...
This paper focuses on developing new navigation and reconnaissance capabilities for cooperative unmanned systems in uncertain environments. The goal is to design a cooperative multi-vehicle system that can survey an unknown environment and find the most valuable route for personnel to travel. To accomplish the goal, the multi-vehicle system first explores spatially diverse routes and then selects...
The industrial revolution has reached a new development cycle which uses the advantages of cyber world into the physical world of manufacturing, and called Industry 4.0. Cyber world offers Internet of Things which allows transmission and reception of data from and to anywhere on earth through Internet. In the current aerospace industry, the production of components has significant manual work involved...
In this paper we address the issue of connecting abstract task definitions at a mission level with control functionalities for the purpose of performing autonomous robotic missions using multiple heterogenous platforms. The heterogeneity is handled by the use of a common vocabulary which consists of parametrized tasks such as fly-to, take-off, scan-area, or land. Each of the platforms participating...
In 2017, Teledyne Brown Engineering, Inc. (Teledyne) will begin operations of the five (5)+ year Multi-User System for Earth Sensing (MUSES) mission on the International Space Station (ISS). MUSES is a first of its kind commercial space imaging mission that supports up to four (4) in-flight robotically installed sensors. MUSES will support Teledyne-owned, partner-owned, and tenant sensors for both...
Physical human-robot interaction is one of the hottest topic in robotics and safety issues are its fundamental aspect. The present paper contributes to this aspect in that collision detections can be completed on the servo level in an intuitive way. The principle of the proposed collision detection strategy is based on the relative difference of the feedback commanded torque, which is able to identify...
This paper presents two different strategies for difficulty adaptation in a competitive arm rehabilitation game: a manual adaptation strategy and an automatic performance-based adaptation strategy. The two strategies were implemented in a competitive game controlled with an inertial-sensor-based home rehabilitation device. They were first evaluated with 32 pairs of unimpaired participants, who played...
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