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This paper presents a reconfiguration algorithm for a robot composed of sliding cube modules with a limited motion primitive. We assume that a cube module is not allowed to make convex motions around other modules but is allowed to slide across other modules' surfaces. Such a motion primitive limitation complicates the development of the reconfiguration algorithm; however, it simplifies the design...
Traditional performance and energy scaling benefits based on technology improvements have slowed greatly. At the same time the demand for computing capability is unsatiated with new killer applications emerging in the domains of robotics, automotive, and machine-intelligence. Lack of progress in technology scaling will necessarily place more demands on the computer architecture and software layers...
Cyber-physical systems are an emergent paradigm to design complex, adaptive and smart systems, combining computational applications with physical hardware devices. Multi-agent systems play an important role in such systems to provide flexibility, robustness and adaptation, but their alignment will require the integration of agents with physical devices. This process is usually complex and time consuming...
Electromyography (EMG) signals can be used to integrate with machines and form one assistive system such as a powered exoskeleton. This paper focuses on the design and development of a low-cost elbow joint powered exoskeleton for human power augmentation, controlled by the EMG. Majority of the hardware has been designed and developed in-house, without using expensively available hardware. A theoretical...
This paper proposes the medium-long term vision where Telecommunications networks will evolve towards becoming Software Defined Infrastructures (SDI). In particular, SDI will be highly dynamic and pervasive environments of logical resources capable of executing any network and service function (e.g., from L2 to L7) developed and controlled as software applications. It is argued that SDI will be a...
One of the inconveniences of recovering after a stoke for patients is that they have to go either to a hospital or to a private clinic in order to follow a rehabilitation exercise program for movement control recovery and nerve reactivation. This paper presents a proof of concept for a portable robotic glove produced by a 3D printer that is controlled by an image processing approach and that is capable...
This work presents the design aspects of TRAVEE, a neuromotor rehabilitation system. The TRAVEE system relies on innovative concepts for improving the rehabilitation process and increasing the patient recovery rate. One such concept is to present the patient an augmented feedback as part of a learning process based on neuroplasticity. Most of the rehabilitation exercises are based on visual feedback...
Autonomous learning through interaction with the physical world is a promising approach to designing controllers and decision-making policies for robots. Unfortunately, learning on robots is often difficult due to the large number of samples needed for many learning algorithms. Simulators are one way to decrease the samples needed from the robot by incorporating prior knowledge of the dynamics into...
We describe an approach to automatically locating faulty statements in control code in embedded systems. Our approach uses the controller structure and examples of normal behavior in simulation to build structured probabilistic models that compactly encode the dynamic behavior of the system. Given an anomalous behavior sequence, we analyze the values of system state variables to determine which variables...
This work describes a multi-agent Navigation Guidance and Control system that is designed to equipping a low-cost ASV. Beside facilitating design, construction and maintenance, the multi-agent structure gives modularity and it increases reliability against partial failures. Individual agents are implemented using ROS and a dedicated, custom developed hardware board that couples an ARM processor and...
Conducting hardware experiment is often expensive in various aspects such as potential damage to the robot and the number of people required to operate the robot safely. Computer simulation is used in place of hardware in such cases, but it suffers from so-called simulation bias in which policies tuned in simulation do not work on hardware due to differences in the two systems. Model-free methods...
In this paper, an attitude controller is implemented and studied on an Octorotor flying robot. In this Unmanned Aerial Vehicle (UAV), motors number is extended to eight motors. Also, mechanical and electrical subsystems is designed and performed based on the considered Quadrotor. To this end, the robot stability is obtained using the stated controller. Then, this flying robot is tested under the flight...
The success of CS Freiburg at RoboCup 2000 can be attributed to a robust and accurate perception approach and an effective cooperation between players based on sophisticated soccer skills. In this paper, we present our multi-agent coordination approach for both, action and perception, and our rich set of basic skills which allow to respond to a large range of situations in an appropriate way. Furthermore,...
In past decades, the online solution of inverse kinematics (IK) has always been a mathematically troublesome problem for redundant robot manipulators. Besides, the traditional IK approaches, such as the pseudo-inverse method, have to calculate the computationally expensive inverse (specifically, pseudo-inverse) of Jacobian matrix. To drastically and effectively avoid the Jacobian inversion and to...
In recent times, biomedical technology has received a major boost due to advancements in electronics. Sophisticated surgical instruments and patient monitoring devices have not only eased the burden on the doctors shoulders but have also taken patient care to a whole new level. However, the field of dentistry is yet to experience a major surge of technological innovation particularly when it comes...
Motion control is certainly a challenging task when faced with high speed and high precision control requirements. After the theoretical design, the motion controller should be evaluated by simulation, then refined on the real hardware, under the influence of unmodeled parameters, such as friction, update latency etc. For this purpose, we propose a hardware-in-the-loop (HIL) development and real-time...
This is an extended abstract describing the doctoral research on mentioned topic which is only to discuss the research in Ph.D symposium at INMIC 2014 conference. Proposed research and material presented in this extended abstract was also presented in the doctoral consortium at IMTIC 2013 at MUET, Pakistan and WEC 2013 conference at NUST Islamabad, Pakistan. This article is not intended to be published...
The new open-source Matlab/Simulink toolbox called RT-MaG presented here generates reliable standalone robotic applications running on real-time embedded Linux targets such as tiny Computers On Module (e.g., Gumstix boards). This toolbox gives direct access from Simulink to the main communication drivers classically used in robotics: network interfaces (via UDP), asynchronous and synchronous serial...
A bio-inspired mechanism to optimize information foraging in modular robotics is presented. In this context, information exchange between robotic modules are performed through intercommunication of neighbouring robotic modules with limited hardware resources. Inspired from real ant colony research, we propose virtual pheromone as a metric for parameters selection to improve communication quality in...
This paper discusses an approach to generate VHDL descriptions from high-level specifications, specifically UML/MARTE models that include aspect-oriented semantics. Standard UML diagrams describe the handling of functional requirements, whereas crosscutting concerns associated with the non-functional requirements are handle by aspects. UML-to-VHDL transformation is performed automatically by a script-based...
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