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This article deals with a problem of creating and managing medium to large scale software projects aimed at promoting research activities in the field of autonomous mobile robotic systems. We will demonstrate on an example of such systems how we identified critical parts of the project and how can be created simple but powerful software architecture suitable for complex management of all subsystems...
A modular robots is composed of many independent connected modules which are able to achieve common goals through communications. A modular self-reconfigurable robot can move and reorganize its modules to modify its shape. In this paper, we consider a modular self-reconfigurable robot made from cubic modules (blocks) that are able to slide along their faces. Sliding motions imply complex cooperations,...
Nowadays, IT community is experiencing great shift in computing and information storage infrastructures by using powerful, flexible and reliable alternative of cloud computing. The power of cloud computing may also be realized for mankind if some dedicated disaster management clouds will be developed at various countries cooperating each other on some common standards. The experimentation and deployment...
One of the most anonymity centric network, TOR has become a research interest for several applications. As anonymity is very hot topic these days, developing remote administration with untraceable administrator will create huge impact and opportunities for security analysis. The rise of embedded systems, creation of secure server communications and connecting them through TOR will be the dawn of new...
Provides an abstract for each of the presentations and a brief professional biography of each presenter. The complete presentations were not made available for publication as part of the conference proceedings.
The design and tuning of bio-inspired musculoskeletal bipedal robots with tendon driven series elastic actuation (TD-SEA) including biarticular structures is more complex than for conventional rigid bipedal robots. To achieve a desired dynamic motion goal additional hardware parameters (spring coefficients, rest lengths, lever arms) of both, the TD-SEAs and the biarticular structures, need to be adjusted...
This paper describes the mechanical design of ESCHER, a series elastic humanoid developed to compete in the DARPA Robotics Challenge (DRC). The design methodology was informed by preliminary experimental results obtained using the THOR humanoid, a prototype platform developed for the DRC Trials, relying heavily on an accurate model of the torque-controlled robot in the Gazebo simulation environment...
Fire-fighting robot is still one of the fields in robotic competitions held these days. This paper is aimed to see the implementation of the Markov Decision Planning (MDP) problem in a fire-fighting robot's navigation. The MDP algorithm evolves planning of the actions the robot should take according to the policy. This planning is mapped into a grid map. Yet in the implementation, this planning is...
This paper presents the integrated circuit (IC) which could output a driving waveform to generate the walking motion of the piezoelectric element impact-type micro electro mechanical systems (MEMS) microrobot. The microrobot was made from silicon wafer fabricated by micro fabrication technology. The size of the fabricated robot was 4.0 × 4.6 × 3.6 mm. IC design of the pulse-type hardware neuron model...
The aim of this paper is to present a practical method to land a Quadrotor MAV (Micro Arial Vehicle) on a landing pad or charger dock station. Nowadays Quadrotor MAVs are very popular but due to nonlinear dynamics and ground effects problems landing of a Quadrotor MAV is a control challenge specially in outdoor environments. For this purpose a high level fuzzy controler and a low level PID stablizer...
Arts & Bots combines intrinsically creative craft materials, common robotics components, a custom programming environment and teacher professional development to create a flexible robotics intervention for secondary school classrooms. In order to engage students underserved by other robotics programs, Arts & Bots is oriented to support the creation of collaborative expression-focused robots,...
In this paper we shall present how we created the serial driver chip which can control the Lynxmotion AL5 type robotic arm. The hardest part was that we had to implement in FPGA the serial driver, but not the usual driver, which can communicate only an 8 bit word with the PC, but to send a whole ASCII string to another device. Most serial drivers on FPGA can respond with a certain character after...
Currently the concept of a new generation of business processes is forming under the influence of scientific and technological progress and socio-economic consciousness. Implementation of this concept implies giving the business process, such new functions or features: a) autonomy, b) dynamic, c) the constructed, etc. that were no able in the business processes exploited today. The paper deals with...
This paper presents the design and development of a new low cost device that allows real-time control application of a robotic system using novel methodologies of component based design: processor in the loop tuning and low/high level control. The particular design of this electronic board allows to control up to three permanent magnet (PM) DC motors per board that can be attached to magnetic or optical...
In this paper we introduce a novel Wearable Ultrasound Radial Muscle Activity Detection System (WURMADS) and a demonstration of its ability to recognize forearm muscle activities of amputee subjects to control a dexterous prosthetic hand. The system consists of control electronics to capture and record the ultrasound echo signals in real-time and two wearable bands embedded with eight ultrasound transducers...
Test and validation of autonomous mechatronic systems is a major challenge. Due to more complex tasks as well as dynamic environments, existing test and validation methods are reaching their limits. The complexity and diversity of their elements and interrelations of these as well as interrelations with environmental elements have to be handled because established methods do not consider the characteristics...
This paper presents ROSMOD, a model-driven component-based development tool suite for the Robot Operating System (ROS). ROSMOD is well suited for the design, development and deployment of large scale distributed applications on embedded hardware devices. We present the various features of ROSMOD including the modeling language, the graphical user interface, code generators and deployment infrastructure...
The education of Systems Engineers involves many learning aspects that cannot be taught through lecturing alone, such as how to handle unforeseen issues and establish a holistic view of a system. An educational approach is presented that allows students to experience key phases of a Systems Engineering life-cycle, from requirements and design to system realisation and test, by using LEGO® MINDSTORMS®...
Complex tasks are often handled through software implementation in combination with high performance processors. Taking advantage of hardware parallelism, FPGA is breaking the paradigm by accomplishing more per clock cycle with closely matched application requirements. With the aim to minimise computation delay with increase in map's size and geometric constraints, we present the FPGA based combinatorial...
Using a new hardware implementation of our designs for tunably compliant spine-like tensegrity robots, we show that the NASA Tensegrity Robotics Toolkit can effectively generate and predict desirable locomotion strategies for these many degree of freedom systems. Tensegrity, which provides structural integrity through a tension network, shows promise as a design strategy for more compliant robots...
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