Pub Date : 2017-06-25DOI: 10.5220/0001503202870293
Luiz A. Celiberto Junior, J. Matsuura
An apparatus for providing a clock signal having a fifty-percent duty cycle that comprises a signal input having a plurality of pulses. A delay means is provided for producing a delayed output signal having a plurality of delayed pulses, each of the plurality of delayed pulses being delayed relative to one of the plurality of pulses. A means for measuring a first delay between one of said plurality of delayed pulses and a next of the plurality of pulses is provided. A means for measuring a second delay between one of the plurality of pulses and a corresponding delayed pulse of the plurality of delayed pulses is provided. A means for comparing the first delay to the second delay is provided. A means for increasing the delay of the delay means if the first delay is greater than the second delay and decreasing the delay of the delay means if said first delay is less than the second delay is provided. A means for combining the signal input and the delayed output signal thereby outputting the clock signal having a fifty-percent duty cycle is provided.
{"title":"Robotic Soccer: the Gateway for Powerful Robotic Applications","authors":"Luiz A. Celiberto Junior, J. Matsuura","doi":"10.5220/0001503202870293","DOIUrl":"https://doi.org/10.5220/0001503202870293","url":null,"abstract":"An apparatus for providing a clock signal having a fifty-percent duty cycle that comprises a signal input having a plurality of pulses. A delay means is provided for producing a delayed output signal having a plurality of delayed pulses, each of the plurality of delayed pulses being delayed relative to one of the plurality of pulses. A means for measuring a first delay between one of said plurality of delayed pulses and a next of the plurality of pulses is provided. A means for measuring a second delay between one of the plurality of pulses and a corresponding delayed pulse of the plurality of delayed pulses is provided. A means for comparing the first delay to the second delay is provided. A means for increasing the delay of the delay means if the first delay is greater than the second delay and decreasing the delay of the delay means if said first delay is less than the second delay is provided. A means for combining the signal input and the delayed output signal thereby outputting the clock signal having a fifty-percent duty cycle is provided.","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-06-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116856996","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 : 2017-01-17DOI: 10.5220/0001508702940300
Emmanuel Benazera
A team of robots and an exploratory mission are modeled as a multiagent planning problem in a decentralized decision theoretical framework. In this application domain, agents are constrained by resources such as their remaining battery power. In this context, there is an intrinsic relation between collaboration, computation and the need for the agents to observe their resource level. This paper reports on an empirical study of this relationship.
{"title":"Collaboration vs. Observation: An Empirical Study in Multiagent Planning under Resource Constraint","authors":"Emmanuel Benazera","doi":"10.5220/0001508702940300","DOIUrl":"https://doi.org/10.5220/0001508702940300","url":null,"abstract":"A team of robots and an exploratory mission are modeled as a multiagent planning problem in a decentralized decision theoretical framework. In this application domain, agents are constrained by resources such as their remaining battery power. In this context, there is an intrinsic relation between collaboration, computation and the need for the agents to observe their resource level. This paper reports on an empirical study of this relationship.","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-01-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125712806","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 : 2016-12-14DOI: 10.5220/0001505002630270
M. Haage, Anders Nilsson, P. Nugues
Achieving rapid, intuitive, and error-free robot setup and instruction is a challenge. We present our work towards an assistive infrastructure for robot setup and instruction that attempts to address it. In this paper, we describe the ongoing development of a system that automatically generates multimodal dialogue interaction from product and process ontologies. The prototype currently generates two modalities, digital paper and spoken dialogue.
{"title":"Toward Ontologies and Services for Assisting Industrial Robot Setup and Instruction","authors":"M. Haage, Anders Nilsson, P. Nugues","doi":"10.5220/0001505002630270","DOIUrl":"https://doi.org/10.5220/0001505002630270","url":null,"abstract":"Achieving rapid, intuitive, and error-free robot setup and instruction is a challenge. We present our work towards an assistive infrastructure for robot setup and instruction that attempts to address it. In this paper, we describe the ongoing development of a system that automatically generates multimodal dialogue interaction from product and process ontologies. The prototype currently generates two modalities, digital paper and spoken dialogue.","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-12-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128468249","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 : 2016-11-30DOI: 10.5220/0001210203660371
W. C. Yau, D. Kumar, S. Arjunan, Sanjay Kumar
This paper presents a novel vision based approach to identify utterances consisting of consonants. A view based method is adopted to represent the 3-D image sequence of the mouth movement in a 2-D space using grayscale images named as motion history image (MHI). MHI is produced by applying accumulative image differencing technique on the sequence of images to implicitly capture the temporal information of the mouth movement. The proposed technique combines Discrete Stationary Wavelet Transform (SWT) and image moments to classify the MHI. A 2-D SWT at level 1 is applied to decompose MHI to produce one approximate and three detail sub images. The paper reports on the testing of the classification accuracy of three different moment-based features, namely Zernike moments, geometric moments and Hu moments computed from the approximate representation of MHI. Supervised feed forward multilayer perceptron (MLP) type artificial neural network (ANN) with back propagation learning algorithm is used to classify the moment-based features. The performance and image representation ability of the three moments features are compared in this paper. The preliminary results show that all these moments can achieve high recognition rate in classification of 3 consonants.
{"title":"Visual speech recognition using wavelet transform and moment based features","authors":"W. C. Yau, D. Kumar, S. Arjunan, Sanjay Kumar","doi":"10.5220/0001210203660371","DOIUrl":"https://doi.org/10.5220/0001210203660371","url":null,"abstract":"This paper presents a novel vision based approach to identify utterances consisting of consonants. A view based method is adopted to represent the 3-D image sequence of the mouth movement in a 2-D space using grayscale images named as motion history image (MHI). MHI is produced by applying accumulative image differencing technique on the sequence of images to implicitly capture the temporal information of the mouth movement. The proposed technique combines Discrete Stationary Wavelet Transform (SWT) and image moments to classify the MHI. A 2-D SWT at level 1 is applied to decompose MHI to produce one approximate and three detail sub images. The paper reports on the testing of the classification accuracy of three different moment-based features, namely Zernike moments, geometric moments and Hu moments computed from the approximate representation of MHI. Supervised feed forward multilayer perceptron (MLP) type artificial neural network (ANN) with back propagation learning algorithm is used to classify the moment-based features. The performance and image representation ability of the three moments features are compared in this paper. The preliminary results show that all these moments can achieve high recognition rate in classification of 3 consonants.","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"76 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131528574","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 : 2016-11-30DOI: 10.5220/0001502902810286
V. Stoian, Cristina Floriana Pană
We present in this paper several ideas about the usability of the robotic arms and mobile robots as an assistive technology in a smart house where people with disabilities daily live. First, psychological and social aspects of smart home technology are presented and after that the modularity and standardization processes are discussed. Next we propose a smart house plan, equipped with a mobile robot which has a manipulator arm. This robotic system is used to help vulnerable persons, the handicapped men vehicle seat being equipped with a robotic arm which can manipulate objects by a hyper-redundant gripper. For the control of the processes in the smart house, we propose a hierarchical control system and for the mobile robot we use the artificial potential field method. Also, this paper points out the edutainment concept (EDUcation and enterTAINMENT) by robotics. Finally, some applications are presented.
在这篇论文中，我们提出了一些关于机器人手臂和移动机器人在残疾人日常生活的智能住宅中作为辅助技术的可用性的想法。首先，介绍了智能家居技术的心理和社会方面，然后讨论了模块化和标准化过程。接下来，我们提出了一个智能住宅的方案，配备一个有机械臂的移动机器人。该机器人系统用于帮助弱势群体，在残疾人汽车座椅上安装一个机械臂，通过一个超冗余抓取器操纵物体。对于智能家居中的过程控制，我们提出了一种分层控制系统，对于移动机器人，我们使用人工势场方法。此外，本文还提出了机器人的教育娱乐概念(EDUcation and enterTAINMENT)。最后给出了一些应用。
{"title":"Using Robotic Systems in a Smart House for People with Disabilities","authors":"V. Stoian, Cristina Floriana Pană","doi":"10.5220/0001502902810286","DOIUrl":"https://doi.org/10.5220/0001502902810286","url":null,"abstract":"We present in this paper several ideas about the usability of the robotic arms and mobile robots as an assistive technology in a smart house where people with disabilities daily live. First, psychological and social aspects of smart home technology are presented and after that the modularity and standardization processes are discussed. Next we propose a smart house plan, equipped with a mobile robot which has a manipulator arm. This robotic system is used to help vulnerable persons, the handicapped men vehicle seat being equipped with a robotic arm which can manipulate objects by a hyper-redundant gripper. For the control of the processes in the smart house, we propose a hierarchical control system and for the mobile robot we use the artificial potential field method. Also, this paper points out the edutainment concept (EDUcation and enterTAINMENT) by robotics. Finally, some applications are presented.","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"24 2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122012703","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 : 2016-11-25DOI: 10.5220/0001494301150120
H. Ohtsuka, K. Shibasato, S. Kawaji
In this paper, a Perceptual Motor Control Model(PMCM) based on output feedback adaptive control theory is considered from the viewpoint of voluntary movement such as hand-tracking control. We give an account of the PMCM structure using together with both of the output feedback controller designed by using an almost strict positive real characteristics for the controlled plant and the Smith predictor for plant with pure time delay. In the proposed method, the attractive structural similarity exists between the cerebrum-cerebellum neuro-motor signal feedback loop and the adaptive controller compensators local minor feedback loop. The proposed perceptual motor control model is evaluated through the comparison of between the experiment and the simulation of for handling 1-link mechanism in order to track an indicator.
{"title":"A Perceptual Motor Control Model based on Output Feedback Adaptive Control Theory","authors":"H. Ohtsuka, K. Shibasato, S. Kawaji","doi":"10.5220/0001494301150120","DOIUrl":"https://doi.org/10.5220/0001494301150120","url":null,"abstract":"In this paper, a Perceptual Motor Control Model(PMCM) based on output feedback adaptive control theory is considered from the viewpoint of voluntary movement such as hand-tracking control. We give an account of the PMCM structure using together with both of the output feedback controller designed by using an almost strict positive real characteristics for the controlled plant and the Smith predictor for plant with pure time delay. In the proposed method, the attractive structural similarity exists between the cerebrum-cerebellum neuro-motor signal feedback loop and the adaptive controller compensators local minor feedback loop. The proposed perceptual motor control model is evaluated through the comparison of between the experiment and the simulation of for handling 1-link mechanism in order to track an indicator.","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114604088","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 : 2016-11-25DOI: 10.5220/0001508803010307
Paul M. Maxim, S. Hettiarachchi, W. Spears, D. Spears, J. Hamann, Thomas Kunkel, C. Speiser
The ability of robots to quickly and accurately localize their neighbors is extremely important for robotic teams. Prior approaches typically rely either on global information provided by GPS, beacons and landmarks, or on complex local information provided by vision systems. In this paper we describe our trilateration approach to multi-robot localization, which is fully distributed, inexpensive, and scalable [15]. Our prior research [14] focused on maintaining multi-robot formations indoors using trilateration. This paper pushes the limits of our trilateration technology by testing formations of robots in an outdoor setting at larger inter-robot distances and higher speeds.
{"title":"Trilateration Localization for Multi-robot Teams","authors":"Paul M. Maxim, S. Hettiarachchi, W. Spears, D. Spears, J. Hamann, Thomas Kunkel, C. Speiser","doi":"10.5220/0001508803010307","DOIUrl":"https://doi.org/10.5220/0001508803010307","url":null,"abstract":"The ability of robots to quickly and accurately localize their neighbors is extremely important for robotic teams. Prior approaches typically rely either on global information provided by GPS, beacons and landmarks, or on complex local information provided by vision systems. In this paper we describe our trilateration approach to multi-robot localization, which is fully distributed, inexpensive, and scalable [15]. Our prior research [14] focused on maintaining multi-robot formations indoors using trilateration. This paper pushes the limits of our trilateration technology by testing formations of robots in an outdoor setting at larger inter-robot distances and higher speeds.","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125775168","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 : 2016-11-25DOI: 10.5220/0001500701010108
A. Zureiki, M. Devy, R. Chatila
Indoor structured environments contain an important number of planar surfaces and line segments. Using these both features in a unique map gives a simplified way to represent man-made environments. Extracting planes and lines by a mobile robot requires more than one sensor: a 3D laser scanner and a camera can be a good equipment. The incremental construction of such a model is a Simultaneous Localisation And Mapping (SLAM) problem: while exploring the environment, the robot executes motions; from each position, it acquires sensory data, extracts perceptual features, and simultaneously, performs self-localisation and model update. First, the 3D range image is segmented into a set of planar faces which are used as landmarks. Next, we describe how to extract 2D line landmarks by fusing data from both sensors. Our stochastic map is of heterogeneous type and contains plane and 2D line landmarks. At first, The SLAM formalism is used to build a stochastic planar map, and results on the incremental construction of such a map are presented, further on, heterogeneous map will be constructed.
{"title":"Slam and Multi-feature Map by Fusing 3D Laser and Camera Data","authors":"A. Zureiki, M. Devy, R. Chatila","doi":"10.5220/0001500701010108","DOIUrl":"https://doi.org/10.5220/0001500701010108","url":null,"abstract":"Indoor structured environments contain an important number of planar surfaces and line segments. Using these both features in a unique map gives a simplified way to represent man-made environments. Extracting planes and lines by a mobile robot requires more than one sensor: a 3D laser scanner and a camera can be a good equipment. The incremental construction of such a model is a Simultaneous Localisation And Mapping (SLAM) problem: while exploring the environment, the robot executes motions; from each position, it acquires sensory data, extracts perceptual features, and simultaneously, performs self-localisation and model update. First, the 3D range image is segmented into a set of planar faces which are used as landmarks. Next, we describe how to extract 2D line landmarks by fusing data from both sensors. Our stochastic map is of heterogeneous type and contains plane and 2D line landmarks. At first, The SLAM formalism is used to build a stochastic planar map, and results on the incremental construction of such a map are presented, further on, heterogeneous map will be constructed.","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"56 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123452991","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 : 2016-11-24DOI: 10.5220/0001505102710277
G. Veiga, J. Norberto Pires
Programming industrial robotic workcells is a challenging task, namely because it means dealing with several types of machines, mange the data flow between them and orchestrate their basic functionality into a working program. In this work service oriented architectures are used for the task of programming robotic workcells along with managing the communication between cell components, and a statechart model engine is implemented to orchestrate the system logic. The objective of this paper is to focus in merging service oriented architectures with StateCharts XML, and in evaluating that robotic workcell programming approach using a simple laboratory test bed.
{"title":"Plug-and-Produce Technologies - On the Use of Statecharts for the Orchestration of Service Oriented Industrial Robotic Cells","authors":"G. Veiga, J. Norberto Pires","doi":"10.5220/0001505102710277","DOIUrl":"https://doi.org/10.5220/0001505102710277","url":null,"abstract":"Programming industrial robotic workcells is a challenging task, namely because it means dealing with several types of machines, mange the data flow between them and orchestrate their basic functionality into a working program. In this work service oriented architectures are used for the task of programming robotic workcells along with managing the communication between cell components, and a statechart model engine is implemented to orchestrate the system logic. The objective of this paper is to focus in merging service oriented architectures with StateCharts XML, and in evaluating that robotic workcell programming approach using a simple laboratory test bed.","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"277 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114946085","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 : 2016-11-23DOI: 10.5220/0001504502350241
F. Dai, J. Unger
A delay device includes storage elements arranged in at least two rows 4, 5; 6, 7 in an integrated circuit, preferably in switched-capacitor technology. The delay device 2; 3 has an even number of storage elements. A first clock signal is provided from which, for producing a delay time equal to an odd multiple of the clock period of the first clock signal, a second clock signal is derived by means of a clock generation circuit 9, this second clock signal clocking the storage elements and being derived from the first clock signal in such a manner that one clock pulse of the first clock signal is suppressed in a selectable or given cycle and all the other clock pulses in the cycle are taken over in the second clock signal.
{"title":"Towards a Standardized and Extensible Mechanism for Robot Device Integration - A XIRP-based Approach and Test Bed Implementation","authors":"F. Dai, J. Unger","doi":"10.5220/0001504502350241","DOIUrl":"https://doi.org/10.5220/0001504502350241","url":null,"abstract":"A delay device includes storage elements arranged in at least two rows 4, 5; 6, 7 in an integrated circuit, preferably in switched-capacitor technology. The delay device 2; 3 has an even number of storage elements. A first clock signal is provided from which, for producing a delay time equal to an odd multiple of the clock period of the first clock signal, a second clock signal is derived by means of a clock generation circuit 9, this second clock signal clocking the storage elements and being derived from the first clock signal in such a manner that one clock pulse of the first clock signal is suppressed in a selectable or given cycle and all the other clock pulses in the cycle are taken over in the second clock signal.","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"82 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122620052","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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