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The main task of rescue robots is to locate victims after a disaster such as an earthquake. For this task sensor data is used to localize the robots in their environment, build maps, and mark the victims in the maps. Usually, thermal and color cameras, monitored by a human operator, are used for the detection. Hyperspectral imaging techniques are today used for industrial tasks such as quality control,...
In this paper, we proposed a method to estimate the destination of walking persons from their walking patterns, for avoidance of collision accidents between pedestrians and robots in a human-robot coexistence environment. We adopted the hidden Markov model (HMM) as a model to represent walking patterns. We constructed a model for each movement pattern. A movement pattern was defined with a departure...
Nowadays, due to the involved complex issues, teaching robotics is demanding new methodologies. One of the complex issues regarding robotics is the use of computer vision for a proper robot guiding control. At the University of Brasilia an educational robotic workstation around a Rhino XR4 robot was built. Students can perform experiences on kinematics, trajectory generation and motion control. A...
Orpheus robotic system projects, including experimental Orpheus-X2 and Orpheus-EB, are presented. Novel member of Orpheus family named Orpheus-AC is presented. Orpheus-AC is a ruggedized teleoperated robot made for chemical and nuclear reconnaissance and was made at our department for VOP-026, Sternberk, s. p. company. It may be operated wireless or by wire, and fulfills military standards regarding...
The tasks of autonomous rescue robots operating in unknown environments are manifold. Self localization, map generation and the detection of possible victims are indespensable. Apart from these, other factors can become crucial for the survival of the involved persons and for the safe operation of the robot itself. A first step in autonomously detecting such dangers is the real-time recognition of...
MaeRobot is a platform for studying robotic systems that interact with wireless networks. MaeRobotpsilas main goal is to provide a simple way to create and test different robotic configurations build using the Mindstorm NXT Robotics kit. A wireless mobile device running embedded Linux OS is used as the robot controller. The architecture of the proposed platform whereas the API used to exploit its...
The use of autonomous underwater vehicles (AUVs) for visual inspection tasks is a promising robotic field. The images captured by the robots can also aid in their localization/navigation. In this context, this paper proposes an approach to localization and mapping problem of underwater vehicle. Supposing the use of inspection cameras, this proposal is composed of two stages: i) the use of computer...
We describe our preliminary results for a novel emergent algorithm inspired by the phenomenon of stigmergy in insect colonies, to solve the n-collaborative pursuit-evasion game. Our initial results with different numbers of pursuers and evaders in a scenario simulated within the Webots environment, illustrate that pursuers using our emergent algorithm are able to detect different number of evaders...
Monocular vision based navigation method has the merits of simple computation and cheap hardware and is promising to realize real time navigation. A monocular vision based navigation method for a mobile robot moving in unknown environment is presented in the paper. By a special installation of a monocular camera on the top of a mobile robot, the method can realize the obstacle detection, distance...
Spherical mobile robot has the characteristics of compact structure and agile motion and is promising to be used in unmanned environment. Designed for environment exploration, a spherical mobile robot BHQ-2 was briefly introduced. The kinematic equation of BHQ-2 was established and its controllability was proved with controllable Lie algebra. Based on the Ritz approximation theory, the near-optimal...
Concerns about terrorist acts of planting explosive and/or dangerous chemical/biological agents in public environments such as air and bus terminals have prompted preventative actions at all levels. One such possible measure is covered in this paper: detection, inspection and safe removal of suspicious/abandoned luggage. A number of specialized mobile robotic platforms take on a linked set of roles...
Power line inspection is of the utmost importance for the reliability and stability of electric power distribution. However, manual inspection is a hazardous, slow, expensive and unreliable task. Therefore, new highly specialized robots are required to improve the overall quality and safety of the power line inspection. The research conducted so far has been mainly focused on the development of climbing...
Throwing or shooting is a new approach for the transportation of objects within production systems. Since gantry robots are often applied to load and unload machines, in a research project a Cartesian robot was used for capturing flying objects. A camera system is measuring the object's positions during a throw in subsequent periods of time. Based on these measurements it can predict the capturing...
As robotics is increasing its influence over the technological developments, the need for autonomous robots capable of performing various tasks has increased. These task include the operations in which they detect the obstacles and navigate themselves in an unknown environment. Here we present two algorithms for wireless detection and depth calculation of obstacles. These algorithms are implemented...
This paper presents an illumination compensation method for images under variable lighting condition. The algorithm consists of two processes. First, the camera response function is identified as a nonlinear model of the camera under dynamic illumination. Then an image with a wider dynamic range is obtained online by fusing several images taken under different exposures of the same scene. The algorithm...
Most teleoperation tasks involve controlling as well as monitoring from a remote location. This requires the eyes of the operator to be engaged in the monitoring task and the hands in the controlling task for the whole duration of the operation. Since the eyes are involved in the monitoring task anyway, inputs from their gaze can be used to aid in the controlling task to free the hands of the operator...
In this paper, a designing process and implementation details of an intelligent ZigBee and wireless local area network (WLAN) enabled robot car are described. ZigBee was used for the delivery of the robot car controlling commands, while WLAN was used for in-car image transmission to the controlling computer. In addition, intelligent solutions currently used in the robot car are explained. In order...
We present a visual servoing scheme enabling non-holonomic mobile robots with a fixed pinhole camera to reach and follow a continuous path on the ground. The controller utilizes only a small set of features extracted from the image plane, without using the complete geometric representation of the path. The scheme is position-based, and a Lyapunov-based stability analysis is carried out. The performance...
Robots perceiving its environment using cameras usually need a good representation of how the camera is aligned to the body and how the camera is rotated relative to the ground. This is especially important for bearing-based distance measurement. In this paper we show how to use reference objects to improve vision-based distance measurements to objects of unknown size. Several methods for different...
Robots are efficient and economic for in-pipe inspection tasks. In this paper, we deal with versatility and multifunction of in-pipe inspection robots. A versatile platform equipped with one driving motor is the main body of multifunctional mobile unit (MMU) that performs inspection tasks. We have developed three kinds of MMU by fixing different assemblies on the proposed versatile platform. MMU1...
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