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This paper introduces a solution for the movement control of the laparoscopic camera employing a teleoperated robotic assistant. The project propose an autonomous robotic solution based on an industrial manipulator, provided with a modular software which is applicable to large scale. The robot arm is envisioned to orient and move the optic device in direction of a fixed point, the incision on the...
The number of civil applications that utilize unmanned aerial vehicles (UAVs) nowadays is continuously growing. Detection of gas leaks is one of the most promising directions. Using UAVs in this area is of great interest cause they are more flexible than ground systems. In this paper authors present integration of a custom sensor into AR.Drone quadrotor on the example of Figaro catalytic gas sensor...
This paper describes an industrial cloud robotics distributed application that was executed across a high-speed wide-area network. The application was implemented using ROS libraries and packages. The purpose of the application is to enable an industrial robot to perform surface blending. A Kinect sensor, a surface blending tool and a laser scanner are mounted on the robot arm. The arm is moved under...
Modern robotic systems are a combination of sophisticated software and hardware components and they offer complex functionalities. While popular middlewares that promote component-level reusability and assist development already exist, there are no established techniques or procedures that use a formal approach to robot system and architecture design yet. This work aims at the long term goal of model-based...
One of the most vital aspects of navigation problem is path planning, in which we must be able to find the optimal path with minimum total transitions cost from the start to goal. This paper introduces the state-of-the-art D*Lite algorithm and presents the efficiency problem of D* Lite in complex environments, particularly in dynamic maze-like environments, where the effect of changes is costly. We...
In this paper, we introduce an approach for robot head mechanism using a parallel mini-manipulator model to establish a highly efficient multiple angle view functionality for robot vision systems. In order to demonstrate the abilities of the structure, we implement the well-known Eigenfaces and Haarcascade algorithms for real-time tracking, localizing, and recognizing problems on human-robot interaction...
This paper presents the VaultBot dual-arm mobile manipulator and its integration with Robot Operating System, MoveIt!, and RViz, and thus demonstrate how two chronic issues with similar systems were addressed: overly complex integration and user control. Multiple levels of semi-autonomous control were developed for the base, manipulator(s), and coordinated motions involving both. Lower levels of autonomy...
With the impending nature of the Internet of Things (IoT), it is important that devices proposed to be networked to the system operate in such a way as to be non-disruptive to the operation of the network. Devices should only use network bandwidth as needed for their operation. To maintain a minimal network footprint which is conducive to the operation of the network, IoT devices should perform a...
Robotic research has recently undergone a paradigm shift as robots have switched from fixed factory floors to more mobile based platforms. This shift has presented many new challenges to the robotic research community. Development of novel robot bases, such as TurtleBot, in concert with the widespread use of robotic frameworks, such as Robot Operating System and MyRobotlab, has given researchers indispensable...
Swarm intelligence for robots is inspired by observation of how homogenous collections of animals behave in nature to succeed in finding food and avoiding predators. Swarm robots usually lack centralized control to determine each robots individual behavior, however global behaviors can emerge through many local interactions, which are simple in nature. Studies show that simple rules executed on the...
The recently emerged Internet of Things (IoT) has already become largely prevalent in today's society. However, strong and fundamental security practices have not been applied to fully protect these systems, partially negating the benefits of IoT. The concept has grown so much in recent years that this lack of a security infrastructure can no longer be ignored. Recent developments in the field of...
This paper presents a methodology and a concept behind the autonomous navigation which can be used in field robots. Long distance navigation in an outdoor environment is a challenging task owing to floor profile variations and slipping problem. The concept is based on SLAM (Simultaneous Localization and Mapping) GMapping algorithm with particle filter approach in mapping process and AMCL (Adaptive...
With the arrival of new robotic technologies such as an Autonomous Underwater Vehicle (AUV), a number of tasks that cannot be done by human now can be accomplished and bring human to reach the dangerous and unreachable areas. An AUV can be related to the most invention which can reduce human's work using specialized equipment and devices that control and perform the particular tasks. Therefore, it...
In this text, we will present work on the design and development of a ROS-based (Robot Operating System1) remote 3D visualisation, control and simulation framework. This architecture has the purpose of extending the usability of a system devised in previous work by this research team during the CASIR (Coordinated Attention for Social Interaction with Robots) project. The proposed solution was implemented...
Robot Operating System (ROS) is a software component framework developed for robot applications. It provides a rich set of software libraries and tools to construct robot components, including implementation of many popular perception, planning, and control algorithms. The state of the art in ROS, however, does not fundamentally support priority and synchronization among tasks, so-called nodes in...
In the process of development a control strategy for mobile robots, simulation is important for testing the software components, robot behavior and control algorithms in different surrounding environments. In this paper we introduce a simulation environment for mobile robots based on ROS and Gazebo. We show that after properly creating the robot models under Gazebo, the code developed for the simulation...
Beyond robot hardware and control, one major element for an efficient, constructive and safe mission of teleoperated robots in disaster scenarios such as Fukushima is the quality of the interface between operator and robot. In this contribution, we present the concept of utilizing 3D simulation as a central interface component for the operator to intuitively collaborate with teleoperated robots. Thus,...
We propose a new approach to Robot as a Service in which a team of heterogeneous robots composed of Pioneers and Turtle-bots can be controlled all under the same environment. Our approach uses the Robot Operating System (ROS) in order to provide communication between a workstation and the robots. These robots have a set of services that are available in a web server. Basically, two kind of robotic...
This paper is focused in the inclusion of open software tools and standard hardware devices into advanced mobility aids. Its urgency is due to the incorporation need of the numerous advances in mobile robotics to the area of the Assistive Technologies, and more specifically in the field of the so called Intelligent Wheelchairs (IW). In this paper we propose a common core for IWs based both on an open...
The research and development of intelligent interaction service robot become popular these years. Human-robot interaction play an important role in service robot as the intelligent behavior is natural way that people communicate with robot. This paper presents Xinxin, an intelligent interaction service robot designed as receptionist, partner and a mascot of 120th anniversary of XJTU. The robot combines...
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