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Teleoperation is integral to society's uptake of modern robotic systems. Given the wide array of readily available robots, ranging from simple mobile platforms and UAVs to advanced humanoid robots such as ASIMO and PR2, teleoperation is required in many different forms. The recent advances in virtual reality systems, interactive input controls and even haptic devices facilitate a wide range of new...
Our faculty has recently managed to buy a Turtlebot 2 robot. The final aim of the project is to develop a low-cost home support robot that will be capable of executing simple tasks, such as locating and fetching known objects while avoiding obstacles that can be found in a typical home environment. This paper is about our first steps in the TekiControl project: it describes the basic principles and...
Diving as a profession and sport is and will be one of the most dangerous disciplines known by man. Water is not a natural habitat for humans and people need equipment to breathe underwater. Failure in the breathing apparatus, burst eardrum, decompression sickness and nitrogen narcosis are just a couple of problems which can occur during an ordinary dive and result in injuries, long-term illnesses...
The high degree of complexity associated with humanoid robotic platforms significantly hinders the definition of accurate models. Robot learning based on human teleoperation provides suitable ways and means of meeting this challenge. Teleoperating the robot in different motion and balance tasks through a haptic interface, endows the user with the ability to "feel" the dynamics of the system...
In this paper, we present a robotic system capable of mapping indoor, cluttered environments and, simultaneously, detecting people and localizing them with respect to the map, in real-time, using solely a Red-Green-Blue and Depth (RGB-D) sensor, the Microsoft Kinect, mounted on top of a mobile robotic platform running Robot Operating System (ROS). The system projects depth measures in a plane for...
Although many commercially available robots ship with a version of ROS this is not as true for many external sensors. There is a lack of ROS support for many devices and sensors one might use to extend the capabilities of a robot. As robots are deployed in more complex environments there is the need for more specialized sensors. In particular in the aquatic domain there is the need for support for...
Data mining approaches have been used in business purposes since its inception; however, at present it is used successfully in new and emerging areas like education systems. Government of Bangladesh emphasizes the need to improve the education system. In this research, we use data mining approaches to predict students' final outcome, i.e., final grade in a particular course by overcoming the problem...
This paper describes robotic workplace that is being developed at our faculty. It consists of industrial arm Mitsubishi Melfa RV-6SL, gripper Schunk and six Axis cameras. The purpose of this workplace is to serve students for testing algorithms from artificial intelligence and computer vision. It also gives them the oportunity to work with real industrial manipulator and allow them to test things...
This paper describes localization and navigation in an indoor environment with transparent objects. Although LIDAR proved to be a popular choice, its inability to detect glass surface requires another sensor to ensure navigation capability will work in all kind of environment. In this paper, sonar sensor is used in complement to laser due to its capability to detect hard surfaces and low cost. The...
This paper presents a simulation environment for testing and validation of a Mission Control System (MCS) of autonomous underwater vehicles (AUV) operating in environments with characteristics found in lakes of hydroelectric dams. The Supervisory Control Theory (SCT) is used as formalism for the analysis and modelling of the event-driven dynamics of the AUV, but also as the basis for the development...
Recent developments in centralized ICT architectures have realized the abstraction of hardware and communications functionality into software within for of highly assisted and autonomous vehicles. This development requires a data-centric approach to the integration and fusion of sensory information within the vehicle. We address this requirement through utilizing a hierarchical framework of intelligent...
ROBCO 12 is an Intelligent Modular Service Mobile Robot for Elderly and/or Disabled Persons Care. This robot will “live” in the home of the elderly and/or disabled person and help him/her 24 hours a day. It will be able to remind him/her to take medications, it will serve food and drinks, will turn on/off electronic devices, will alert when his/her health is getting worse and will connect to his physician,...
This paper presents the integration of audio-visual perception components for human robot interaction in the Robot Operating System (ROS). Visual-based nodes consist of skeleton tracking and gesture recognition using a depth camera, and face recognition using an RGB camera. Auditory perception is based on sound source localization using a microphone array. We present an integration framework of these...
In this paper, a fuzzy control system is presented for an unmanned aerial vehicle (UAV) which provides aerial support for an unmanned ground vehicle (UGV). The UGV acts as a mobile launching pad for the UAV. The UAV provides additional environmental image feedback to the UGV. Our UAV of choice is a Parrot ArDrone 2.0 quadcopter, a small four rotored aerial vehicle, competent for its agile flight and...
In this paper, a 3D environmental data acquisition and display system is designed based on laser scanning technology and ROS. We set up the data acquisition platform using a 2D laser range finder mounted on a pan-tilt, the acquired 3D point cloud data will be processed and visualized based on ROS. Pan-tilt control module is designed to drive pan-tilt with laser range finder to specified location....
Increasing elderly people population and people with disabilities constitute a huge demand for wheelchairs. Wheelchairs have an important role on improving the lives and mobilization of people with disabilities. Moreover, autonomous wheelchairs constitute a suitable research platform for academic and industrial researchers. In this study, Finite state machine (FSM) based high-level controller and...
Autonomous mobile vehicles are used in many applications to realize special tasks. These tasks involve obstacle avoidance, target reaching and/or tracking. Such vehicles include the use of artificial intelligence to assist the vehicle's operator. Fuzzy logic can be used in the design of an autonomous vehicle to improve the classical control mechanisms. Classical robot control/decision mechanisms can...
Pulsed power technology has possibility to be able to provide new method for cancer treatment. Applying a pulsed high electric field with nanosecond duration time onto a cancer cell can induce apoptosis. As the first stage, we have used budding yeast that is a eukaryotic cell, as a model organism of the cancer cell. We investigated the influence on the cell by changing the frequency and field strength...
Background and purpose: As one of the major types of programmed cell death (PCD), necrosis has been observed and demonstrated to be responsible for cell death and the mechanisms responsible for necrosis are still not very clear. This study reviews that programmed cell death (PCD), including apoptosis and necrosis for C6 glioma cells is related to p53-reactive oxygen species (ROS). Methods: The C6...
Autonomous mobile vehicles are used in many areas. These vehicles are supposed to realize correct robotic behaviors in respect of the application type. Classical robot control/decision mechanisms can give imperfect results due to sensor compensation errors or calculation costs. Fuzzy logic, in some cases, can be used to overcome these problems. In this study, we have designed a robot control system...
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