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Modern robotic systems are a combination of sophisticated software and hardware components and they offer complex functionalities. While popular middlewares that promote component-level reusability and assist development already exist, there are no established techniques or procedures that use a formal approach to robot system and architecture design yet. This work aims at the long term goal of model-based...
Human-machine interactions are likely to require synergistic multidisciplinary research efforts for supporting a paradigm shift towards collaborative-oriented use cases. An essential aspect of collaboration is trust and in order to establish it there is need for human-machine mutual understanding (HMMU). We argue that achieving HMMU will require evolving from an approach that reduces human factors...
At the current time, there are several fundamental changes in the way computing systems are being developed, deployed and used. They are becoming increasingly large, heterogeneous, uncertain, dynamic and decentralised. These complexities lead to behaviours during run time that are difficult to understand or predict. One vision for how to rise to this challenge is to endow computing systems with increased...
The merging of networking and control fields has always brought interesting innovations but the tools and structures for proper and easy management of experiments still lag behind. Different solutions have been proposed to handle general control problems and, more in detail, for fine control of UAVs (Unmanned Aerial Vehicles) dynamics. They lack, however, an efficient and detailed network-side simulation,...
This paper explores the effectiveness of MOOS-IvP middleware for Unmanned Surface Vehicles(USV). As unmanned technology evolves, various functions are required to carry out some missions. Also, as the USVs have more sensors, the complexity of data sharing is increasing. A good solution to deal with this is middleware. The MOOS-IvP is a C++ based open source publish-subscribe middleware. It consists...
In this paper is presented the integration of diverse modules for people fallen detection by a mobile service robot. This integration has been achieved in the middleware ROS (Robotics Operation System). The proposed implementation are arranged over an modular architecture of three layers: Hardware, Processing and Decision. The modules implemented are on the processing layer. The first module uses...
These days, some robots have emotional state (expression and recognition) to make Human-Robot Interaction (HRI) and Robot-Robot Interaction (RRI) better. In this article we analyze what it means for a robot to have emotion and distinguishing emotional state for communication from an emotional state as a mechanism for the organization of its behavior with humans and robots by convolutional neural network...
This paper proposes a place cell model allowing place recognition in the context of robot autonomous navigation. The robustness of this approach lies in the fact that even if one or several patterns characterizing the place are removed or not visible anymore, a place can still be recognized. The recognition process in this work is improved with respect to the state-of-the-art place cells approach...
In view of the heterogeneous characteristics and enormous connections of the underlying networks in Internet of Things(IOT), we proposed a SDN-IOT architecture including physical layer, control layer and application layer in this paper. Based on this architecture, we designed a robot welding monitoring system. Considering a large number of different QoS requirements of data flows in IOT, we proposed...
Providing guarantees on the system behavior is mandatory in order to let the robots enter our every-day life. Among these guarantees, proving the fulfillment of real-time constraints on the software is a key issue, as their violation could result into unexpected and unsafe behaviors. In this paper, we present a methodology to guarantee real-time constraints on component-based software architectures...
This paper addresses the problem of road scene segmentation in conventional RGB images by exploiting recent advances in semantic segmentation via convolutional neural networks (CNNs). Segmentation networks are very large and do not currently run at interactive frame rates. To make this technique applicable to robotics we propose several architecture refinements that provide the best trade-off between...
The consumer robotics concept has already invaded our everyday lives, however two major drawbacks have become apparent both for the roboticists and the consumers. The first is that these robots are pre-programmed to perform specific tasks and usually their software is proprietary, thus not open to "interventions". The second is that even if their software is open source, low-cost robots...
In this paper, we outline the architecture design of the HORSE system for support of hybrid manufacturing processes. The HORSE project aims at providing integrated end-to-end manufacturing process management and advanced control of hybrid manufacturing work cells. In these hybrid cells, human and robotic actors collaborate flexibly and safely. As the HORSE system should support SME organizations,...
Robot is being more intelligent with the visual information and analysis. Specially, the functionality of the object or scene recognition with a high accuracy is essential for the autonomous control and navigation. However, they are too complicated to be implemented in an embedded platform for mobile robots driven by a battery. In this paper, for the high processing speed with low power consumption...
The analysis widespread in robotics technology for wireless data transmission, the technology of using the optical channel for the exchange of information between different devices.
In this paper we propose a three-layered architecture for the implementation of cloud-based health monitoring system that utilizes ubiquitous commercial health measuring devices. The main advantage of such a solution over the solutions that use proprietary medical hardware is the availability and the number of existing health devices and also relying on the expertise of their vendors. We also identify...
Attention-based bio-inspired vision can be studied as a different way to consider sensor processing, firstly allowing to reduce the amount of data transmitted by connected cameras and secondly advocating a paradigm shift toward neuro-inspired processing for the post-processing of the few regions extracted from the visual field. The computational complexity of the corresponding vision models leads...
This paper presents the design of a transparent fuzzy bilateral controller for a nonlinear teleoperation system which has been approximated by a class of Takagi-Sugeno (TS) fuzzy models. After the approximation stage, TS fuzzy control laws are introduced for the master and slave robotic systems. These laws further help in developing the design conditions using the state convergence methodology. The...
Last two decades some architects have used tools, which are based on nature principles. Thanks to globalization and multidisciplinary, contemporary architecture uses principles based on computing design, engineering, sociology or nature systems. Implementation of these principles brings new possibilities to architecture and design and new ways how to develop it. This paper focuses on intelligence...
Paradigm shift in architectural design initiated by new technological developments has replaced conventional processes of architectural model design with dynamic transformative ones. This paper examines some of the recent developments in the architectural design through analysis of selected architectural projects and their models. The focus of the paper is the analysis of some new approaches in architectural...
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