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User experience design is crucial to achieve a successful intelligent product design. By taking the user experience design of a xylophone playing robot as an example, this paper attempts to identify the prominent attributes in the user experience design of intelligent products, and to find the general norms guiding the design. Both the pragmatic and the hedonic aspects have been investigated via questionnaires...
Neuromorphic Engineering is an interdisciplinary field which combines concepts from fields such as biology, neuroscience, computer science and engineering. The goal of this field is to design systems that are based on the principles of biological nervous systems. This paper presents hardware results for path planning using a neuron array integrated circuit. The algorithm is explained and experimental...
We are now witnessing the beginning of Ubiquitous Computing era with the success of several start up to find early adopters among the general public for their home automation solutions through crow funding campaigns. We believe that in the near future, more and more people will come out with new ideas in relation with ubiquitous computing to make our daily life more and more easy. However, most of...
Proximity Query (PQ) is a process to calculate the relative placement of objects. It is a critical task for many applications such as robot motion planning, but it is often too computationally demanding for real-time applications, particularly those involving human-robot collaborative control. This paper derives a PQ formulation which can support non-convex objects represented by meshes or cloud points...
This paper presents an innovative implementation of a radio communication system, which is able to transmit analog and digital data. The main goal of this project is to implement a multiprocessor system, based on the FPGA technology, which can control multiple radio transceivers. In this configuration allow a various possibilities of communication: analogue (voice) communication and data transmission...
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...
Mobile Cyber-Physical Systems (CPSs) widely vary in the underlying hardware technologies and capabilities of their mobile devices (e.g., robots). This makes the problem of developing portable high-level Mobile CPS applications difficult, since applications are typically written for specific devices. To this end, this paper present a framework that relies on abstracting the representation of the mobile...
For a while, UAV (Unmanned Arial Vehicles) use was limited to military applications, however recently UAVs are also used for a wide range of civilian applications. Some of the UAV applications may involve multiple UAVs that must cooperate to achieve a common task. This kind of applications is termed collaborative UAV applications. One of the main issues for multiple UAVs is developing an effective...
In recent years, much research has been devoted to the construction of public-private key pairs; on the other hand, few have synthesized the visualization of the producer-consumer problem. Given the current status of efficient archetypes, leading analysts famously desires the emulation of congestion control, which embodies the key principles of hardware and architecture. In our research, we concentrate...
A trajectory generator is one of the most important part of CNC (Computer Numerical Control) machine control systems. It has to ensure the smooth tool movement and feed rate changes, which can be done with a limit imposed on the jerk. The paper presents an application of field programmable gate arrays (FPGA) to accelerate calculations needed for trajectory generation from G-code for a three axes parallel...
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...
The research field of artificial intelligence (AI) has long abode by the top-down problem solving strategy. Yet, we have adopted bottom-up design thinking to solve its hard problems. To tackle end-to-end AI-hard problems, a highly self-adaptive control system-on-chip (SoC) has been developed to self-learn its internal and external resources with the aid of sets of sensors and actuators. Inspired by...
This paper addresses the problem of robot interaction with objects attached to the environment through joints such as doors or drawers. We propose a methodology that requires no prior knowledge of the objects' kinematics, including the type of joint - either prismatic or revolute. The method consists of a velocity controller which relies on force/torque measurements and estimation of the motion direction,...
Extensive cost, time and effort associated with setting up a production line often inhibits transitioning novel ideas into commercialized products. Sustainable revenue generation in such enterprises requires production in large quantities in order to lower the unit cost, and thus improving the marketability. Although this model has been successful and is being followed by most of the industries today,...
In autonomous ground systems, developing a clear model of the surroundings is crucial for operating in any environment. Three-dimensional light detection and ranging (LIDAR) sensors, such as the Velodyne HDL-64E S2, are powerful tools for robotic perception. However, these sensors generate large data sets exceeding one million points per second that can be difficult to use on space, power, and processing...
This paper presents a lead-through method and device for industrial robots and more particularly the design and calibration of a portable lead-through teaching device. Most industrial robots are programmed by a teach-and-playback approach. In some applications, maneuvering robots using the joystick or keypad on the teach pendant along the desired path is not easy or intuitive. To solve this problem,...
Live migration is an advanced virtualization capability supported by several Virtual Machine Manager (VMM) solutions that allows a running virtual machine (VM) to be moved from one physical server to another without interruption. In the past, it was a premium feature largely restricted to enterprise datacentres due the need for Storage Area Networks (SANs), but advances in technology and increased...
This paper proposed a speed controller design for a DC motor by using a FPGA chip and applies it on a wheeled robot. For the motor accelerating control, this paper proposed a hardware PI controller circuit module to achieve the accelerating control. On the motor decelerating control, this paper proposed a braked deceleration circuit module to improve the skid of tires when the wheel-type robot brakes...
In this paper, a Hardware/Software (HW/SW) co-design method of ant colony optimization (ACO) algorithm is proposed to implement on the FPGA chip. In this paper, the software is designed with C language and hardware is designed with Verilog hardware description language (HDL). The HW/SW co-design method is a technique based on a SOPC (System on a Programmable Chip). In this paper, the path selecting...
Miniaturized robots become more and more common for handling and assembly of miniaturized products. This miniaturization usually refers to the actuators, the kinematics and the sensors, but also the control electronics and their computational resources are affected. Facing these restrictions, the present article discusses patterns of robot control software that can be transferred from architectures...
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