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Intervention activities in underwater environments are of great importance in many areas, such as the exploration, monitoring and documentation of sea resources, historical treasures or industrial applications. The use of robotic systems and automatic procedures is becoming fundamental, since the work conditions for divers are risky and often unfeasible, and several kind of works are every way impossible...
RGB-D sensors provide RGB images along with pre-pixel depth information, the richness of their data and recent development of low-cost sensors have made them more popular in mobile robotics research. In this paper, we introduce a framework for real-time mapping in indoor environment by using a RGB-D sensor and present RGB-D mapping, a 3D mapping system that utilizes 3D point clouds available for RGB-D...
Atomic force microscopes (AFMs) are usually utilized for nano-scale imaging. Usually, the slide loading the samples and the stage of the AFM cannot be placed completely parallel with the motion plane of the piezoelectric actuator due to the manual operation and machining errors, which leads to the variation of imaging brightness (or height) along the slope and makes the relative topography unrealistic...
For overcoming the problems that bionic robotic fish is energy-limited and its battery is difficult to be changed, we design a real-time energy monitoring and management system, which makes monitoring the energy consumption of the robot possible in real time. The advantages of the system we designed include small size, reliable performance and low energy consumption. Its main functions are energy...
Hand gestures are a powerful way for human communication, with lots of potential applications in the area of human computer interaction. Vision-based hand gesture recognition techniques have many proven advantages compared with traditional devices, giving users a simpler and more natural way to communicate with electronic devices. This work proposes a generic system architecture based in computer...
Summation frame communication technologies, as represented by protocols like EtherCAT and Interbus-S, have proven useful for relatively simple applications but are easily stretched to limits by more complex applications especially those requiring quality time-synchronization and/or uncomplicated use of non-real time communication. This paper examines an extension of Ethernet based summation-frame...
An algorithm which allows the robot to avoid moving obstacles and to reach the assigned goal is proposed. For this purpose, a dynamical system (DS) modulation matrix is calculated using the distance from the obstacles and their velocity, without the need of an analytical representation of the obstacles. This matrix modulates a generic first order DS, used to generate the desired path, saving the equilibrium...
An accurate dynamics model of a robot is an important ingredient of many algorithms used to solve robotics problems, including motion planning, control, localization, and mapping. Models derived from first principles often contain parameters (e.g. mass, moment of inertia, arm lengths, etc.) for which values are unknown. Those which cannot be easily measured must be estimated from the observed behavior...
In this paper, we present a system that enables humanoid robots to imitate complex whole-body motions of humans in real time. In our approach, we use a compact human model and consider the positions of the endeffectors as well as the center of mass as the most important aspects to imitate. Our system actively balances the center of mass over the support polygon to avoid falls of the robot, which would...
OpenGV is a new C++ library for calibrated realtime 3D geometric vision. It unifies both central and non-central absolute and relative camera pose computation algorithms within a single library. Each problem type comes with minimal and non-minimal closed-form solvers, as well as non-linear iterative optimization and robust sample consensus methods. OpenGV therefore contains an unprecedented level...
Real-time plane extraction in 3D point clouds is crucial to many robotics applications. We present a novel algorithm for reliably detecting multiple planes in real time in organized point clouds obtained from devices such as Kinect sensors. By uniformly dividing such a point cloud into non-overlapping groups of points in the image space, we first construct a graph whose node and edge represent a group...
Recently, the open-source robot operating system (ROS) has been growing rapidly in the robotics community. However, the ROS runs on Linux, which does not provide timing guarantees for robot motion. This paper present a hybrid real-time ROS architecture on multi-core processor “RGMP-ROS”, which consists of two parts including the non-real-time subsystem “GPOS (General Operating system)” and the real-time...
The online computational load associated with Nonlinear Model Predictive Control (NMPC) is a serious barrier for its application to systems with fast dynamics. This paper addresses numerical approaches for fast and real-time feasible NMPC. The applicability of these methods to fast systems with sampling times in order of milliseconds is investigated through a nonlinear teleoperation system. The main...
This paper focuses on the importance of test driven development, in an interdisciplinary academic case study, involving unauthorized access and fraud. In it, Problem Based Learning (PBL) enabled the organization of an environment for diverse knowledge and skills, favorable to experimentation and prototyping of new models, methods, techniques, and tools. The application of the principles of agile methods...
Behavioral learning theory evaluates human's learning process in terms of observable stimulus and responses. One of the behavioral learning methods is the classical conditioning. The classical conditioning theory proposed by Pavlov concerns the analyses of conditioning a response with a neutral stimulus, inspiring from the relation between natural stimulus and response. In this study the classical...
A combination of Model Predictive Control with a Particle Swarm Optimization technique is proposed. The resultant method is able to take advantage of the parallel computation power of graphics hardware to generate swing-up trajectories for the nonlinear & underactuated Acrobot problem in real-time while taking state constraints into account. In order to facilitate this combination, the particle...
We present a system for real-time general object recognition (gor) for indoor robot in complex scenes. A point cloud image containing the object to be recognized from a Kinect sensor, for general object at will, must be extracted a point cloud model of the object with the Cluster Extraction method, and then we can compute the global features of the object model, making up the model database after...
This paper presents a novel technique to locate and control a wheeled robotic system for outdoor applications through wireless communication technique. Global position system (GPS) is adopted to locate the robot globally. Both direction and speed control of the vehicle is demonstrated using H-bridge and Pulse Width Modulation (PWM) signals respectively. The main principle of control adopted here is...
The RT-WMP is a token-passing protocol based protocol that applied to the mobile ad-hoc network. It has many advantages. For instance, it supports real-time traffic, multi-hop capabilities. Especially, the messages could be scheduled in the multi-robots communications so that the one with higher priority will be transmitted earlier. This paper analyzes the state-of-the-art of ad-hoc network protocols...
Online path planning for multi-robots in complicated and dynamic environments is a difficult and hot issue in the field of robotics. Many traditional path planning methods cannot meet the requirements of online and real-time processing. Neuro-dynamics-based method has an aptitude for online and real-time path planning in complicated and dynamic environments. However, this method still has shortcomings...
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