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This paper provides an overview of an approach to the control of multiple craft with heterogeneous movement and actuation characteristics that is based on the Blackboard software architecture. An overview of the Blackboard architecture is provided. Then, the operational and mission requirements that dictate the need for autonomous control are characterized and the utility of the Blackboard architecture...
Model-Based Diagnosis (MBD) system uses model (correct behavior of a robotic system), diagnosis engine, and a planner based repair engine for detecting and repairing faults. In this contribution we present a new hardware called Diagnostic Board used as counterpart to MBD system in order to cope with particularly hardware faults. It is micro-controller based board originally built for monitoring hardware...
Road surface inspection in cities is for the most part, a task performed manually. Being a subjective and labor intensive process, it is an ideal candidate for automation. We propose a solution based on computer vision and data-driven methods to detect distress on the road surface. Our method works on images collected from a camera mounted on the windshield of a vehicle. We use an automatic procedure...
At present, some personal assistant systems have got new application with the promotion of instant messaging technology. In this study, we have developed a kind of personal assistant robot platform especially for students and employee to help to manage their learning, life and work better, in the fields of curriculum management, diary management, financing management and chatting system. We provide...
This paper elaborates the basic structure of a machine learning system in classifying affective state. There are several techniques in classifying the states depending on the type of input-output dataset. A proper selection of techniques is crucial in determining the success rate of the system prediction. The paper proposes a machine learning technique in classifying affective states of human subjects...
A robotic mediator is a robot platform that mediates between the user and the smart environment system in order to capture user's intent and provide proactive services by collaborating with available resources in the environment. In order for a robotic mediator to provide the user with proactive context-aware services, it must communicate and collaborate with diverse heterogeneous devices and systems...
In this paper a very accurate and efficient algorithm to compute the inverse kinematics of universal spindle-tilting type five-axis machine tools are presented. The spindle-tilting type five-axis machine is similar to a general serial 5R manipulator. The main idea is computing the complex inverse kinematics of universal spindle-tilting type five-axis machine to realize post processing. The proposed...
An estimated discrete time model from analog servo motor with limited state information was obtained. The process is divided in two main parts. First, we build diagram blocks consisting DC motor and its position controller. Next, we find the whole transfer function derived from the diagram blocks. Second, we obtained sampled-data from experiment to estimate the coefficients of simplified discrete...
The SHERPA project funded by the European Community's 7th Framework Program (ICT 600958), addresses the development of a team of ground and aerial robots to act as an aid to alpine search-and-rescue missions. Following the kickoff of the project on February 1st 2013 and the thorough research on the conditions under which such missions are currently conducted, we study the applicability of existing...
In this paper, an approach for development of program-verifier whereby it is carried out a check of mission for autonomous underwater vehicle (AUV) is proposed. The approach is consisted in substitution of standard libraries, in which described access to all resources of AUV, on libraries which carry out transmit of commands and parameters of these commands to external program-verifier. The program-verifier...
This paper presents a model-based design approach for description of mechatronic systems using System Modeling Language (SysML) in order to facilitate modification and customization of existing intelligent mechatronic components and their use in new applications. This approach enables re-use and integration of the existing mechatronic software components to meet system design requirements and minimize...
Models are used in control domains for early validation of system properties, using simulation or formal verification, and for the automatic generation of a software implementation. We propose an approach in which a functional model of the controls is matched to a model of the execution platform through an intermediate mapping model, that represents the software tasks and communication messages. The...
This paper presents an analysis of two comparable studies with LEGO Robotics-based activities in a social skills training program for children with autism spectrum disorders (ASD). One study has been carried out with a group of 16 children in the Unit of Pediatrics Psychology and Psychiatry in HSJD in Barcelona, Spain and the other with a group of 17 children at the Center for Education and Engineering...
Software evolution is an essential activity that adapts existing software to changes in requirements. Localizing the impact of changes is one of the most efficient strategies for successful evolution. We exploit requirements descriptions in order to extract loosely coupled components and localize changes for evolution. We define a process of elaboration for the goal model that extracts a set of control...
This paper uses mechanic dynamic analysis software ASAMS to build a virtual prototype of the Parallel Machine Toll, and perform kinematic simulation. The virtual prototype model provides the theoretic foundation and main parameters for the system design, production and application in experiment. It is an effective method for engineering design.
This paper presents the design changes to the control strategy of a robotic palletising machine that was developed earlier. The changes were required in order to simplify maintenance, and to enhance reliability and robustness. The updated control system uses a distributed control configuration to minimise control complexity and maximise functionality. The main benefit of the lower complexity distributed...
This paper will discuss the system level verification and validation test program for the surface capability of the Mars Science Laboratory (MSL) Curiosity Rover. MSL has many similarities to its predecessors, the Mars Exploration Rovers Spirit and Opportunity. However, Curiosity's diverse science payload, new sampling system, and overall scale led to new challenges in development and testing. The...
User interfaces for source code editing are a crucial component in any software development environment, and in many editors visual annotations (overlaid on the textual source code) are used to provide important contextual information to the programmer. This paper focuses on the real-time programming activity of ‘cyberphysical’ programming, and considers the type of visual annotations which may be...
Nowadays, the advance of the technology allows robots to acquire dense point clouds decreasing the price and increasing the performance. However, it is a hard task to deal with due to the large amount of points, the redundancy and the noise. This paper proposes an adaptable system to build a 3D feature model of point clouds using Gaussian Mixture Models. These 3D models are used in order to detect...
Solar powered e-bot for agriculture means simple eco-friendly Agricultural Robot. E-bot for agriculture is a robot which runs on solar energy. It is a 4 wheeled unmanned vehicle which can move in a linear direction. All the units (Weed remover, Fertilizer Sprayer and Pest controller) work independently. The robot employs mobile application systems and a range of mechanical aspects to guide the robot...
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