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Modular component-based robot systems require not only an infrastructure for component management, but also scalability as well as real-time properties. Robot technology (RT)-middleware is a software platform for such component-based robot systems. Each component in the RT-Middleware, so-called "RT-component'' supporting particular robot functions, is based on common object request broker architecture...
The proposal of this paper is demonstrating the simplicity to develop a real control position action over a platform on mobile vehicle using two different discrete controllers. The mechanical structure is depicted and the range of work operation. The characterization is based on an accelerometer in the X axis. The mathematical analysis of these controllers, classic control discrete PID and the second...
This paper deals with the usage of virtual reality and scenario languages in the field of teleoperation: how to enable a group of teleoperators to control, in a collaborative way, groups of real robots, in turn collaborating with each other to achieve complex tasks; such tasks include inspecting a dangerous area or exploring a partially unknown environment. The main goal is to obtain efficient, natural...
A new inspection robot system is presented for live-line suspension insulator strings to prevent an insulator failure that can have severe effects on national industry, economy and security. This robot system is small-sized, lightweight and more superior in insulation and reliability by adopting a new wheel-leg moving mechanism and a new insulation resistance measurement method. We confirmed its effectiveness...
In automated information retrieval and processing, many different methods are used. In our work we suggest algorithms and procedures which are generally used in real-world robotics might be also useful in virtual information worlds - namely in the Semantic Web. Such real-world methods address navigation, localization and mapping problems, but so far we have not seen similar methods being used in information...
Repetitive motion on industrial workstations is at the origin of musculoskeletal disorders (MSD). There is a need for new simulation tools that allows for human motion prediction. This paper addresses the problem of realistic human motion simulation on industrial workstations. It is based on motion analysis and control synthesis on a kinematics basis. Literature and motion captures are compared. Then,...
South Asian countries are full of rivers, and big/small boat is an important vehicle for communication in many places. It is an unavoidable issue to rescue the people when they fall on danger for any natural and/or man-made cause. Water vehicle shows better efficacy instead of air vehicle for developing countries. Therefore, the basic principles and methods towards an automated rescue system is outlined...
Path planning is a central topic in games and other research areas, such as robotics. Despite this, very little research addresses problems involving agents with multiple sizes and terrain traversal capabilities. In this paper we present a new planner, Hierarchical Annotated A* (HAA*), and demonstrate how a single abstract graph can be used to plan for agents with heterogeneous sizes and terrain traversal...
In this paper we show how a continuous set of orientations can be represented as a positive definiteness test on a given matrix. When this continuous set is restricted by the maximum allowed orientation error in some or all directions it is shown that the requirement for an orientation to satisfy these restrictions is equivalent to positive definiteness for a certain matrix. The problem of finding...
Modeling of working space and parameters optimization of the parallel mechanisms with the linear actuators located on the base with six kinematic chains are considered. The purpose is to achieve an increase in functionalities of parallel mechanisms in view of their possible singularities, as criterion of optimization the maximum of working volume.
The following topics are discussed: distributed artificial intelligence; knowledge-based systems; ontologies; natural language processing; machine learning and data mining; pattern recognition; neural networks; genetic and hybrid intelligent systems; computer vision and image processing; robotics, planning and scheduling; uncertainty, probabilistic reasoning and fuzzy logic; multiagent systems; and...
In many fields such as computer animation, computer graphics, machine vision, robotics, virtual reality and CAD/CAM, it is a common problem to detect the positional relationship between two planar conics. Based on the generalized characteristic polynomial and the affine invariants of two conics, explicit conditions are derived for classifying the various positional relationships between an ellipse...
In this paper we present a robotic head MIRA (multimodal interactive robot agent) which has been developed for studying the learning of human robot interaction and improving our understanding of human robot interaction techniques. In this paper we focus on two main aspects of the system; first, we describe how the robot head learns to recognise faces for supporting the interaction process between...
In 2005, inspired by Von Neumannpsilas self-reproducing automata, the author had introduced self-reproducing machine learning (SRML). In this article the author is trying to explore the nature of self-reproducing machine learning, SRML architectures, formal structures, mathematical structures and its integrated systems software engineering principles. The author will demonstrate SRML technology to...
The following topics are dealt with: human mind modeling; data mining; human systems interaction; cognitive communication; intelligent spaces; manufacturing; education; computer supported collaborative media environments; blind people assistance; navigation and mobility; stochastic modeling; biology; economics; engineering; hardware software codesign; training; genetic algorithms; decision making;...
The following topics are dealt with: intelligent agents and ontologies; data mining, knowledge discovery and decision making; intelligent systems; Web technologies and Web services; virtual reality and games; image processing and image understanding techniques; adaptive control and automation; modelling, prediction and control; multi-agent systems and computational intelligence; agent systems, personal...
The following topics were dealt with: communications; image processing; speech processing; video processing; digital signal processing; embedded system; control system; power engineering; computer security; network security; computer networks; mobile networks; data mining; neural networks; artificial intelligence; robotics; software engineering; distributed computing; biomedical engineering
This paper develops fuzzy methods for control of the rotary inverted pendulum, an underactuated mechanical system. Two control laws are presented, one for swing up and another for the stabilization. The pendulum is swung up from the vertical down stable position to the upward unstable position in a controlled trajectory. The rules for the swing up are heuristically written such that each swing results...
The following topics were dealt with: intelligent system modeling; evolutionary algorithms; fuzzy control; information system modeling; image processing; uncertainty modeling; fuzzy set theory; rough sets; granular computing; perception based data mining; intelligent decision making; medical informatics; robotics; pattern recognition; fuzzy logic; fuzzy reasoning; and neurofuzzy hybrid modeling
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