Pub Date : 2013-12-01DOI: 10.1109/ICBR.2013.6729264
Hassine Belhadj, Saber Ben Hassen, Khaled Kaaniche, Hassen Mekki
In this work, we have investigated the processes required for visual extracting and the remote control of KUKA KR-125 industrial robot manipulator. For this purpose, the robot controller communicates with the external system via anEthernet cable IEEE 802.3. The exchanged data are transmitted thanks to TCP/IP Protocol. To do this, we performed a client/server application with all relevant motions control. Second, we set up a Kinect in the robotproximity for the detection of objects (recognition of form, determination of position etc...) and finally we applied it to a practical example: we have programmed the robot to be able to stack object thanks to the reliability of the visual processing.
{"title":"KUKA robot control based Kinect image analysis","authors":"Hassine Belhadj, Saber Ben Hassen, Khaled Kaaniche, Hassen Mekki","doi":"10.1109/ICBR.2013.6729264","DOIUrl":"https://doi.org/10.1109/ICBR.2013.6729264","url":null,"abstract":"In this work, we have investigated the processes required for visual extracting and the remote control of KUKA KR-125 industrial robot manipulator. For this purpose, the robot controller communicates with the external system via anEthernet cable IEEE 802.3. The exchanged data are transmitted thanks to TCP/IP Protocol. To do this, we performed a client/server application with all relevant motions control. Second, we set up a Kinect in the robotproximity for the detection of objects (recognition of form, determination of position etc...) and finally we applied it to a practical example: we have programmed the robot to be able to stack object thanks to the reliability of the visual processing.","PeriodicalId":269516,"journal":{"name":"2013 International Conference on Individual and Collective Behaviors in Robotics (ICBR)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132890948","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-12-01DOI: 10.1109/ICBR.2013.6729266
S. Tejinder
The paper talks about a new innovative way of “swarm co-ordination” or “Shape Changing” system. The system is called Magphere. In this system a new swarm co-ordination system is defined which works on the principle of MegProp. The system works on spheres (shape not just limited to sphere but can be cubical, ellipsoid, polyhedral etc too) having computer at core and electromagnets arranged along the whole surface. These Magphere spheres can communicate with each other using wireless technologies and co-ordinate the points of bonding to join with each other to produce movement or to form bigger organism (robots) shapes. These Magpheres can also carry other equipment's for their mission like plugs to get charged midway in mission or camera or bomb etc. The paper explains how the Magphere technology can revolutionize the robotic and other associated fields of science. Paper also talks about how Magphere can be developed and the initial experimentation that has been done.
{"title":"Magpheres: The electromagnetically co-ordinated swarm “robotic/shape changing” system","authors":"S. Tejinder","doi":"10.1109/ICBR.2013.6729266","DOIUrl":"https://doi.org/10.1109/ICBR.2013.6729266","url":null,"abstract":"The paper talks about a new innovative way of “swarm co-ordination” or “Shape Changing” system. The system is called Magphere. In this system a new swarm co-ordination system is defined which works on the principle of MegProp. The system works on spheres (shape not just limited to sphere but can be cubical, ellipsoid, polyhedral etc too) having computer at core and electromagnets arranged along the whole surface. These Magphere spheres can communicate with each other using wireless technologies and co-ordinate the points of bonding to join with each other to produce movement or to form bigger organism (robots) shapes. These Magpheres can also carry other equipment's for their mission like plugs to get charged midway in mission or camera or bomb etc. The paper explains how the Magphere technology can revolutionize the robotic and other associated fields of science. Paper also talks about how Magphere can be developed and the initial experimentation that has been done.","PeriodicalId":269516,"journal":{"name":"2013 International Conference on Individual and Collective Behaviors in Robotics (ICBR)","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117098456","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-12-01DOI: 10.1109/ICBR.2013.6729272
Agnès Ghorbel, M. Jallouli, N. Ben Amor, L. Amouri
The paper presents a hardware architecture for implementing a mobile robot localization approach through encoders' measurements and absolute localization using camera tracking images. This technique has been developed and implemented for the motion of the robot from an initial position towards another desired position, taking into account the tradeoff between complexity (reducing computation time) and performance (reducing traveling time). The proposed method is implemented on FPGA (Field Programmable Gate Array) board through mixed hardware / software implementation in order to ensure fluid robot navigation. Experimental tests on Xilinx Virtex 5 ML507 proved the effectiveness of the proposed architecture since we have obtained a reduction of 85 % in execution time compared to initial MATLAB version developed on a PC platform.
{"title":"An FPGA based platform for real time robot localization","authors":"Agnès Ghorbel, M. Jallouli, N. Ben Amor, L. Amouri","doi":"10.1109/ICBR.2013.6729272","DOIUrl":"https://doi.org/10.1109/ICBR.2013.6729272","url":null,"abstract":"The paper presents a hardware architecture for implementing a mobile robot localization approach through encoders' measurements and absolute localization using camera tracking images. This technique has been developed and implemented for the motion of the robot from an initial position towards another desired position, taking into account the tradeoff between complexity (reducing computation time) and performance (reducing traveling time). The proposed method is implemented on FPGA (Field Programmable Gate Array) board through mixed hardware / software implementation in order to ensure fluid robot navigation. Experimental tests on Xilinx Virtex 5 ML507 proved the effectiveness of the proposed architecture since we have obtained a reduction of 85 % in execution time compared to initial MATLAB version developed on a PC platform.","PeriodicalId":269516,"journal":{"name":"2013 International Conference on Individual and Collective Behaviors in Robotics (ICBR)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124171857","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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