Pub Date : 1900-01-01DOI: 10.5220/0001627003180325
E. González, V. F. Batlle, A. Adán, L. Sánchez
This paper presents a new 3D object recognition/pose strategy based on reduced sets of Fourier descriptors on silhouettes. The method consists of two parts. First, an off-line process calculates and stores a clustered Fourier descriptors database corresponding to the silhouettes of the synthetic model of the object viewed from multiple viewpoints. Next, an on-line process solves the recognition/pose problem for an object that is sensed by a real camera placed at the end of a robotic arm. The method avoids ambiguity problems (object symmetries or similar projections belonging to different objects) and erroneous results by taking additional views which are selected through an original next best view (NBV) algorithm. The method provides, in very reduced computation time, the object identification and pose of the object. A validation test of this method has been carried out in our lab yielding excellent results.
{"title":"Active 3D recognition system based on fourier descriptors","authors":"E. González, V. F. Batlle, A. Adán, L. Sánchez","doi":"10.5220/0001627003180325","DOIUrl":"https://doi.org/10.5220/0001627003180325","url":null,"abstract":"This paper presents a new 3D object recognition/pose strategy based on reduced sets of Fourier descriptors on silhouettes. The method consists of two parts. First, an off-line process calculates and stores a clustered Fourier descriptors database corresponding to the silhouettes of the synthetic model of the object viewed from multiple viewpoints. Next, an on-line process solves the recognition/pose problem for an object that is sensed by a real camera placed at the end of a robotic arm. The method avoids ambiguity problems (object symmetries or similar projections belonging to different objects) and erroneous results by taking additional views which are selected through an original next best view (NBV) algorithm. The method provides, in very reduced computation time, the object identification and pose of the object. A validation test of this method has been carried out in our lab yielding excellent results.","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123748678","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 : 1900-01-01DOI: 10.5220/0001500201940201
D. Pisla, C. Vaida, N. Plitea, J. Hesselbach, A. Raatz, Marc Simnofske, Arne Burisch, L. Vlad
Surgery is one of the fields where robots have been introduced due to their positioning accuracy which exceed the human capabilities. Parallel robots offer higher stiffness and smaller mobile mass than serial ones, thus allowing faster and more precise manipulations that fit medical applications. In the paper is presented the modeling and simulation of a new parallel robot, based on an innovative structure, used in minimally invasive surgery. The parallel architecture has been chosen for its superiority in precision, repeatability, stiffness, higher speeds and occupied volume. The robot kinematics, singular position identification and workspace generation are illustrated. Using the developed virtual model of the parallel robot, some simulation tests are presented.
{"title":"Modeling and Simulation of a New Parallel Robot used in Minimally Invasive Surgery","authors":"D. Pisla, C. Vaida, N. Plitea, J. Hesselbach, A. Raatz, Marc Simnofske, Arne Burisch, L. Vlad","doi":"10.5220/0001500201940201","DOIUrl":"https://doi.org/10.5220/0001500201940201","url":null,"abstract":"Surgery is one of the fields where robots have been introduced due to their positioning accuracy which exceed the human capabilities. Parallel robots offer higher stiffness and smaller mobile mass than serial ones, thus allowing faster and more precise manipulations that fit medical applications. In the paper is presented the modeling and simulation of a new parallel robot, based on an innovative structure, used in minimally invasive surgery. The parallel architecture has been chosen for its superiority in precision, repeatability, stiffness, higher speeds and occupied volume. The robot kinematics, singular position identification and workspace generation are illustrated. Using the developed virtual model of the parallel robot, some simulation tests are presented.","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123776654","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 : 1900-01-01DOI: 10.5220/0002192904050408
C. Cárdenas, E. Moya, David García, Oscar Calvo
Automation and control of processes in a food industry is a very important aim. The main reasons are: guaranteeing a better quality of the final product, reducing cost time and improving the use of the raw materials. Specifically, drying and storage grain industries have plants which, in many cases, are out of phase. Besides, they are controlled by machine operators. Our work has consisted in developing a total and supervision automated system to control most of the processes. A first step has been to automate four cereal dryers in order to collect data. Subsequently, a control has been designed to get a constant value of moisture of the grain. At the same time, these data have been used to obtain a total traceability of the process.
{"title":"Control and Supervision for an Industrial Grain Dryer","authors":"C. Cárdenas, E. Moya, David García, Oscar Calvo","doi":"10.5220/0002192904050408","DOIUrl":"https://doi.org/10.5220/0002192904050408","url":null,"abstract":"Automation and control of processes in a food industry is a very important aim. The main reasons are: guaranteeing a better quality of the final product, reducing cost time and improving the use of the raw materials. Specifically, drying and storage grain industries have plants which, in many cases, are out of phase. Besides, they are controlled by machine operators. Our work has consisted in developing a total and supervision automated system to control most of the processes. A first step has been to automate four cereal dryers in order to collect data. Subsequently, a control has been designed to get a constant value of moisture of the grain. At the same time, these data have been used to obtain a total traceability of the process.","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125369222","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 : 1900-01-01DOI: 10.5220/0001500302020206
A. Souza, A. M. Santana, Ricardo S. Britto, L. Gonçalves, A. Medeiros
SOUZA, Anderson A. S. ; SANTANA, Andre M. ; BRITTO, Ricardo S. ; GONCALVES, Luiz Marcos G. ; MEDEIROS, Adelardo A. D. Representation of Odometry Errors on Occupancy Grids. In: INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS, 5., 2008, Funchal, Portugal. Proceedings... Funchal, Portugal: ICINCO, 2008.
{"title":"Representation of Odometry Errors on Occupancy Grids","authors":"A. Souza, A. M. Santana, Ricardo S. Britto, L. Gonçalves, A. Medeiros","doi":"10.5220/0001500302020206","DOIUrl":"https://doi.org/10.5220/0001500302020206","url":null,"abstract":"SOUZA, Anderson A. S. ; SANTANA, Andre M. ; BRITTO, Ricardo S. ; GONCALVES, Luiz Marcos G. ; MEDEIROS, Adelardo A. D. Representation of Odometry Errors on Occupancy Grids. In: INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS, 5., 2008, Funchal, Portugal. Proceedings... Funchal, Portugal: ICINCO, 2008.","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125371063","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 : 1900-01-01DOI: 10.5220/0002203201950201
Pooya Heiraty, A. Aghajani, Hojatollah Shirzadi Laskoukelayeh, Majid Zeraat Pisheh Fard, S. Monsef
Nowadays rescue robots are used in some rescue operations. Increasing the speed and accuracy of victim detection with sensors and equipment which are installed on the robot and yet increasing human safety factor of rescuers are among the advantages of using rescue robots. By the experience of rescue operation in Bam earthquake and participating in some robocup competitions, a new four-wheeled robot has been designed which has highly operational capability. In initial part of this article, robot locomotion and controlling in different situations and the method of connection operator with robot are surveyed; then, sensors which are used in for navigation and victim detection are explained. At the end, the method of generating the map of robot’s movement route, which is very important for identifying the trapped victim's location in a rapid rescue operation, was studied.
{"title":"Promotion in Rescue Robot - According to the Experience Gained by Participating in Bam Earthquake Rescue Operation","authors":"Pooya Heiraty, A. Aghajani, Hojatollah Shirzadi Laskoukelayeh, Majid Zeraat Pisheh Fard, S. Monsef","doi":"10.5220/0002203201950201","DOIUrl":"https://doi.org/10.5220/0002203201950201","url":null,"abstract":"Nowadays rescue robots are used in some rescue operations. Increasing the speed and accuracy of victim detection with sensors and equipment which are installed on the robot and yet increasing human safety factor of rescuers are among the advantages of using rescue robots. By the experience of rescue operation in Bam earthquake and participating in some robocup competitions, a new four-wheeled robot has been designed which has highly operational capability. In initial part of this article, robot locomotion and controlling in different situations and the method of connection operator with robot are surveyed; then, sensors which are used in for navigation and victim detection are explained. At the end, the method of generating the map of robot’s movement route, which is very important for identifying the trapped victim's location in a rapid rescue operation, was studied.","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125585559","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 : 1900-01-01DOI: 10.5220/0001629001740180
D. Pardo, C. Angulo
This paper describes a collaborative control scheme that governs the dynamic behavior of an articulated mobile robot with several degrees of freedom (DOF) and redundancies. These types of robots need a high level of coordination between the motors performance to complete their motions. In the employed scheme, the actuators involved in a specific task share information, computing integrated control actions. The control functions are found using a stochastic reinforcement learning technique allowing the robot to automatically generate them based on experiences. This type of control is based on a modularization principle: complex overall behavior is the result of the interaction of individual simple components. Unlike the standard procedures, this approach is not meant to follow a trajectory generated by a planner, instead, the trajectory emerges as a consequence of the collaboration between joints movements while seeking the achievement of a goal. The learning of the sensorimotor coordination in a simulated humanoid is presented as a demonstration.
{"title":"Collaborative control in a humanoid dynamic task","authors":"D. Pardo, C. Angulo","doi":"10.5220/0001629001740180","DOIUrl":"https://doi.org/10.5220/0001629001740180","url":null,"abstract":"This paper describes a collaborative control scheme that governs the dynamic behavior of an articulated mobile robot with several degrees of freedom (DOF) and redundancies. These types of robots need a high level of coordination between the motors performance to complete their motions. In the employed scheme, the actuators involved in a specific task share information, computing integrated control actions. The control functions are found using a stochastic reinforcement learning technique allowing the robot to automatically generate them based on experiences. This type of control is based on a modularization principle: complex overall behavior is the result of the interaction of individual simple components. Unlike the standard procedures, this approach is not meant to follow a trajectory generated by a planner, instead, the trajectory emerges as a consequence of the collaboration between joints movements while seeking the achievement of a goal. The learning of the sensorimotor coordination in a simulated humanoid is presented as a demonstration.","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126846608","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 : 1900-01-01DOI: 10.5220/0001215001620167
O. Krejcar
The proliferation of mobile computing devices and local-area wireless networks has fostered a growing interest in location-aware systems and services. Additionally, the ability to let a mobile device determine its location in an indoor environment at a fine-grained level supports the creation of a new range of mobile control system applications. Main area of interest is in model of radio-frequency (RF) based system enhancement for locating and tracking users of our control system inside buildings. The framework described here joins the concepts of location and user tracking in an extended existing control system. The experimental framework prototype uses a WiFi network infrastructure to let a mobile device determine its indoor position as well as to deliver IP connectivity. User location is used to data pre-buffering and pushing information from server to user’s PDA. Experiments show that location determination can be realized with a room level granularity.
{"title":"PDPT framework - building information system with wireless connected mobile devices","authors":"O. Krejcar","doi":"10.5220/0001215001620167","DOIUrl":"https://doi.org/10.5220/0001215001620167","url":null,"abstract":"The proliferation of mobile computing devices and local-area wireless networks has fostered a growing interest in location-aware systems and services. Additionally, the ability to let a mobile device determine its location in an indoor environment at a fine-grained level supports the creation of a new range of mobile control system applications. Main area of interest is in model of radio-frequency (RF) based system enhancement for locating and tracking users of our control system inside buildings. The framework described here joins the concepts of location and user tracking in an extended existing control system. The experimental framework prototype uses a WiFi network infrastructure to let a mobile device determine its indoor position as well as to deliver IP connectivity. User location is used to data pre-buffering and pushing information from server to user’s PDA. Experiments show that location determination can be realized with a room level granularity.","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122612509","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 : 1900-01-01DOI: 10.5220/0001630302400243
Foad Ghaderi, M. N. Ahmadabadi
Some failures cause the robots to loss parts of their capabilities, so that they cannot perform their assigned tasks. Considering requirements of typical robotic teams during different missions, a distributed behavior based control architecture is introduced in this paper. This architecture is based on an enhanced version of ALLIANCE, and provides the robots the ability of performing shared tasks based on help requests. The architecture contains a mechanism for adaptive action selection and a communication protocol for information and task sharing which are required for coordination of team members. The proposed architecture is used in a box pushing mission where heterogeneous robots push several boxes with different
{"title":"Helping instead of replacing - towards a shared task allocation architecture","authors":"Foad Ghaderi, M. N. Ahmadabadi","doi":"10.5220/0001630302400243","DOIUrl":"https://doi.org/10.5220/0001630302400243","url":null,"abstract":"Some failures cause the robots to loss parts of their capabilities, so that they cannot perform their assigned tasks. Considering requirements of typical robotic teams during different missions, a distributed behavior based control architecture is introduced in this paper. This architecture is based on an enhanced version of ALLIANCE, and provides the robots the ability of performing shared tasks based on help requests. The architecture contains a mechanism for adaptive action selection and a communication protocol for information and task sharing which are required for coordination of team members. The proposed architecture is used in a box pushing mission where heterogeneous robots push several boxes with different","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"419 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122922188","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 : 1900-01-01DOI: 10.5220/0001624400920097
M. Soron, I. Kalaykov
In certain robot applications, path planning has to be viewed, not only from a motion perspective, but also from a process perspective. In 3-dimensional Friction Stir Welding (FSW) a properly planned path is essential for the outcome of the process, even though different control loops compensate for various deviations. One such example is how sharp path intersection is handled, which is the emphasis in this paper. We propose a strategy based on Hermite and Bezier curves, by which G1 continuity is obtained. The blending operation includes an optimization strategy in order to avoid high second order derivatives of the blending polynomials, yet still to cover as much as possible of the original path.
{"title":"Blending tool paths for G1-continuity in robotic friction stir welding","authors":"M. Soron, I. Kalaykov","doi":"10.5220/0001624400920097","DOIUrl":"https://doi.org/10.5220/0001624400920097","url":null,"abstract":"In certain robot applications, path planning has to be viewed, not only from a motion perspective, but also from a process perspective. In 3-dimensional Friction Stir Welding (FSW) a properly planned path is essential for the outcome of the process, even though different control loops compensate for various deviations. One such example is how sharp path intersection is handled, which is the emphasis in this paper. We propose a strategy based on Hermite and Bezier curves, by which G1 continuity is obtained. The blending operation includes an optimization strategy in order to avoid high second order derivatives of the blending polynomials, yet still to cover as much as possible of the original path.","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116806793","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 : 1900-01-01DOI: 10.5220/0001632900590064
Salazar Garcia Mahuampy, Viot Philippe, Nouillant Michel
Before the realization of testing devices such as a high speed (5m/s) hydraulic hexapod with a high load capacity (60 tons and 6 tons for static and dynamic operating mode), the simulation is an essential step. Hence from softwares such as SimMecanics, we have performed an electro hydraulic model of the servovalve-jack part by using parameters and recorded results with mono axis testing bench of high-speed hydraulic jack (5m/s), which has a high loading capacity (10 tons for static and 1 ton for dynamic operating mode). The high-speed jack is provided by two parallel three-stage servo-valves. Each three-stage servovalve supplies 600L/mm. Therefore the unit allows us to obtain a realistic model of an extrapolated hexapod from the mono axis currently used. The aim of this article is to provide a modeling of the second and third stage servo valves by comparison of the typical experimental reading and the computed curves obtained from simulation.
{"title":"Electro hydraulic pre-actuator modelling of an hydraulic jack","authors":"Salazar Garcia Mahuampy, Viot Philippe, Nouillant Michel","doi":"10.5220/0001632900590064","DOIUrl":"https://doi.org/10.5220/0001632900590064","url":null,"abstract":"Before the realization of testing devices such as a high speed (5m/s) hydraulic hexapod with a high load capacity (60 tons and 6 tons for static and dynamic operating mode), the simulation is an essential step. Hence from softwares such as SimMecanics, we have performed an electro hydraulic model of the servovalve-jack part by using parameters and recorded results with mono axis testing bench of high-speed hydraulic jack (5m/s), which has a high loading capacity (10 tons for static and 1 ton for dynamic operating mode). The high-speed jack is provided by two parallel three-stage servo-valves. Each three-stage servovalve supplies 600L/mm. Therefore the unit allows us to obtain a realistic model of an extrapolated hexapod from the mono axis currently used. The aim of this article is to provide a modeling of the second and third stage servo valves by comparison of the typical experimental reading and the computed curves obtained from simulation.","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"65 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129608139","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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