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Stereo vision is an active research topic in computer vision. Point Grey® Bumblebee® and digital single-lens reflex camera (DSLR) are normally found in the stereo vision research, they are robust but expensive. Open source electronic prototyping platforms such as Arduino and Raspberry Pi are interesting products, which allows students or researchers to custom made inexpensive experimental equipment...
This paper provides an active proposal for the establishment of an industrial control laboratory at an academic institution level. The laboratory is mainly intended for teaching undergraduate and postgraduate students who are majoring in the areas of industrial control and mechatronics programs, respectively. Further services this laboratory could provide are to conduct seminars and workshops for...
The usage of autonomous vehicles is rapidly expanding on both the ground and air. With more autonomous vehicles in close proximity to humans, new and better sensors need to be developed to manage these relationships, both good and bad. This new age of autonomous activity will bring both new opportunity and new threats to people and property. One of these threats will be from cheap, very functional...
This paper describes a new class of autonomous marine vehicles named Medusa and highlights their role in a number of EU projects addressing multiple vehicle scenarios. The MEDUSA vehicles, with surface and diving versions, were designed and built at the Institute for Systems and Robotics, IST, Univ. de Lisboa, Portugal as a result of an effort aimed at affording researchers and practitioners of marine...
This paper presents the last developments towards vision-based target tracking by an AUV. The main concepts behind the visual relative localization are provided and the results from a statistical analysis for the relative localization algorithm are presented. The purpose of this analysis is to ensure properness of data used to feed controllers that are responsible for governing the AUV motion. A new...
In this paper we describe an approach for robot activity adaptation in a cognitive human-robot collaboration system, based on user-related information. Core element is a Bayesian Network model, which is the basis for reasoning about the risk of a user working in a collaborative task with a partially autonomous robot in a shared workspace. For local and global inference, the probabilistic model thereby...
Aquatic unmanned robotic systems have gained popularity due to their abilities to perform a wide range of applications at low cost and no risk to human lives. This research investigates the development of the navigation system of “HPftN”, an Autonomous Surface Vehicle (ASV). The PID control system composed of 3 Arduino UNO boards, a GPS, a Compass and 4 thrusters can navigate the 2,86 meter long and...
This paper presents some of the results of the EU-funded project PANDORA — Persistent Autonomy Through Learning Adaptation Observation and Re-planning. The project was three and a half years long and involved several organisations across Europe. The application domain is underwater inspection and intervention, a topic particularly interesting for the oil and gas sector, whose representatives constituted...
Automated vehicles have drawn great attention in research and industry, due to their potential benefits in driving without passengers. Using computer simulation in motion and speed control of the vehicles can reduce errors and costs. Fuzzy logic provides a different way for issues that need to be controlled. This method is concentrated on what the system should do, not on how the works are done. Using...
Sharing data among applications is a growing phenomenon. With the IoT, this phenomenon becomes more significant. As already studied in social networks, data sharing has the drawback of privacy risks. Authorization protocols and cryptographic systems may not be enough to ensure that user data and metadata are not used for non-legitimate purposes. There are different scenarios and several personal data...
This paper presents a novel approach to autonomously navigate multiple Unmanned Aerial Vehicles (UAVs) of type Parrot AR Drone 2.0 inside a closed environment. The UAVs will be assigned to follow a set of way points. A multi-UAV control algorithm will be developed using MATLAB/ Simulink to materialize the concept of centralized formation flight. The experiment data will be analyzed further to develop...
Cyber-Physical system (CPS) are now widely used in the design of smart objects. A CPS is the integration of computational elements with physical processes. One of the most widespread application of CPS is the autonomous transportation systems. This paper presents a CPS model for the design of a platoon system approach (i.e. a set of autonomous vehicles that move together without any mechanical link...
Unmanned Aerial Vehicles (UAVs) have seen increased use in indoor operation with applications to disaster recovery, inspection in manufacturing industry, and in health care system. For this reason, it is necessary to develop an obstacle avoidance scheme for UAVs flying under limited altitude. This work is focused on multi obstacle avoidance for quadcopter type UAV. A collision-free margin was modeled...
In the context of autonomous navigation, vision has demonstrated its potential in replacing bulkier sensors and achieving multi-tasking, operating as the primary sensor for guidance as well as simultaneously fulfilling other dedicated missions. Vision sensors are of particular interest in aerial navigation where their versatility and light weight simplify the avionics and increase the available payload...
This paper presents a modular and extensible quad rotor architecture and its specific prototyping for automatic tracking applications. The architecture is extensible and based on off-the-shelf components for easy system integration while maintaining constant connectivity with the IoT. A target tracking and acquisition application is presented in detail to demonstrate the power and flexibility of the...
This work presents approaches for the estimation of quantities important for the control of the momentum of a humanoid robot. In contrast to previous approaches which use simplified models such as the Linear Inverted Pendulum Model, we present estimators based on the momentum dynamics of the robot. By using this simple yet dynamically-consistent model, we avoid the issues of using simplified models...
In this paper, we present an architecture to fuse different data from onboard sensors (LiDAR and Camera) for real-time navigation of Unmanned Ground Vehicle (UGV). The proposed system architecture comprises three main interacting modules; line and obstacle detection module, path planning and tracking module, and a real-time motor driving processing module. While these modules were developed individually...
In this paper, a human speaker tracking method on audio and video data is presented. It is applied to conversation tracking with a robot. Audiovisual data fusion is performed in a two-steps process. Detection is performed independently on each modality: face detection based on skin color on video data and sound source localization based on the time delay of arrival on audio data. The results of those...
This paper is synopsis of a recently proposed solution for treating patients who suffer from Phantom Limb Pain (PLP). The underpinning approach of this research and development project is based on an extension of “mirror box” therapy which has had some promising results in pain reduction. An outline of an immersive individually tailored environment giving the patient a virtually realised limb presence,...
The objective of this paper is to instill in students motivation and interest for what they are studying a little bit further of the theory they learn in classroom. Sometimes students prefer more interactive classes and want to know why the material given in class is helpful in their career. Do we have a solution for this? Autonomous Robotic Vehicle (ARV) projects can be the solution to this problem...
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