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The paper present studies on development, implementation, testing and evaluation of an intelligent system for human-machine interaction by voice that allows a mobile robot to learn through a language based on voice commands.
This paper introduces software architectures of the Rescue Robot that lifts and moves wounded soldiers in battle fields or hospitals. Since the Rescue Robot interacts with humans, the robot needs a real-time operation for human safety. Moreover, it is necessary that a large number of calculations and various sensing data to move the soldiers without any damages. One of challenging problems of designing...
This paper is based on the results of a research project regarding the design and development of an Intelligent Haptic Robot-Glove (IHRG) for the rehabilitation of the patients that have a diagnosis of a cerebrovascular accident. The IHRG was designed and implemented in our laboratory considering the fact that for any patient it will be more comfortable to make medical exercises in his own home. The...
This paper describes the hands on workshop experience using a robot kit DepecaBot, as a part of a global effort of teaching robotics as a way of improving skills for students in field of computer science, electronics, and telecommunications. The Robotics Week has been taking place at the University of Alcalá since 2000. This Robotics Week comprises different activities: sumo fighting robots, autonomous...
This paper presents a Hardware/Software Co-design of a probabilistic algorithm such as Kalman Filter (KF). In this case we present a solution for calculating the path length, which can be used for navigation techniques used in mobile robotics. The KF algorithm has been implemented and run on an Altera Ciclone II FPGA with a Nios II processor. To achieve this, first of all we had to do the modeling...
While many methodologies have been proposed for calculating a quantitative level of autonomy for intelligent Unmanned Systems (UMS), no one definitive measure of autonomy or autonomous performance has been validated and adopted by the UMS community. Particularly for military applications, a simple performance metric that is based on the UMSs mission profile and is comparable between UMS systems is...
Mobile robots are being employed far more often in extreme environments, such as urban search and rescue, with greater levels of autonomy; yet recent studies on field robotics show that numerous failure modes affect the reliability of the robot in meeting mission objectives. Therefore, fault tolerance is increasingly important for field robots operating in unpredictable environments to ensure safety...
The open hardware mobile and modular educational robotic platform Yrobot is a new open platform that has been developed at the authors' department. It features a unique combination of teaching robotics and electronics along with algo-rithms, artificial intelligence and hardware based programming. The original motivation was to encourage students' interest in technical fields of study, to support teaching...
Object recognition plays an important role in robotics, since objects/tools first have to be identified in the scene before they can be manipulated/used. The performance of object recognition largely depends on the training dataset. Usually such training sets are gathered manually by a human operator, a tedious procedure, which ultimately limits the size of the dataset. One reason for manual selection...
In this paper we describe a multiplayer brain-computer interface (BCI) based on the classic game of checkers using steady-state visually evoked potentials (SSVEPs). Previous research in BCI gaming focuses mainly on the production of software-based games using a computer screen — few hardware-based BCI games using a physical board have been developed. Hardware-based games can present a unique set of...
Many robots capable of performing social behaviors have recently been developed for Human-Robot Interaction (HRI) studies. These social robots are applied in various domains such as education, entertainment, medicine, and collaboration. Besides the undisputed advantages, a major difficulty in HRI studies with social robots is that the robot platforms are typically expensive and/or not open-source...
A reconfigurable analog integrated circuit is used to solve for a robot's path from a start point to a goal point among obstacles in a three dimensional environment. A bipartite grid algorithm is used to deterministically find a mapping from an arbitrary gridspace environment representation map with freespace and obstacles into transistors which implement the map on the reconfigurable analog circuit...
In single product development, FTA is a common risk assessment technique. While several existing variability-aware extensions of FTA depend on the pruning of 150% models of fault trees for final product configuration, this paper proposes a feature-oriented extension of FTA with a stronger focus on the systematic reuse of fault propagation paths instead. We present an approach to create fault tree...
As improvements in per-transistor speed and energy efficiency diminish, radical departures from conventional approaches are becoming critical to improving the performance and energy efficiency of general-purpose processors. We propose a solution—from circuit to compiler—that enables general-purpose use of limited-precision, analog hardware to accelerate “approximable” code—code that can tolerate imprecise...
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...
The ankle joint is critical to upright balance control and gait function, and is a common location for orthopedic or neurological injuries — e.g., every year in the US 628,000 people suffer ankle sprains and 795,000 suffer a stroke. The Virtually-Interfaced Robotic Ankle and Balance Trainer (vi-RABT) is a rehabilitation system designed to help such individuals improve their ankle and balance control...
This paper proposes a novel approach in finding an optimal solution for vehicle routing. The intention here is to find the shortest time path between different points. Dijkstra's algorithm is a very popular technique used in communication networks for data routing and in path planning of robots. Normally the implementation of Dijkstra's algorithm involves initialization of weights depending upon a...
To develop a robotic system for a complex task is a time-consuming process. Merging methods available today, a new approach for a faster realization of a multi-finger soft robotic hand is presented here. This paper introduces a robotic hand with four fingers and 12 Degrees of Freedom (DoFs) using bellow actuators. The hand is generated via Selective Laser Sintering (SLS), an Additive Manufacturing...
Clothbot is a new kind of climbing robot with novel structure that enables it to move on human cloth. Earlier version of Clothbot can only climb on cloth with manual control because there is complex deformation on human cloth and thus Clothbot can't keep itself stable. In this paper, we propose some new hardware improvements to enhance the stability of Clothbot on human cloth, then adopt a remote...
The solving strategy of artificial intelligence (AI) is adopted with bottom-up design to solve its hard problems. To tackle end-to-end AI-hard problems, a highly self-adaptive control system-on-chip has been developed to self-learn its internal and external resources with the aid of sets of sensors and actuators. Inspired by biological cell learning theory, different approaches of modelling techniques...
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