0000000000180154
AUTHOR
Pedro J. Sanz
Remote programming of network robots within the UJI Industrial Robotics Telelaboratory: FPGA vision and SNRP network protocol
This paper presents the UJI Industrial Robotics Telelaboratory, which lets Ph.D. and Master’s degree students perform robotics and computer vision tele-experiments. By using this system, students are able to program experiments remotely via the Web, in order to combine the use of a field-programmable gate array (FPGA) to provide real-time vision processing, a conveyor belt, and a Motoman industrial manipulator. This paper introduces the novel SNRP protocol (i.e., Simple Network Robot Protocol), which permits the integration of network robots and sensors within an e-learning platform in a simple and reliable manner. As long as the students are able to interact remotely with a real robotic sc…
Genetic polymorphism related to exfoliative glaucoma is also associated with primary open-angle glaucoma risk
Background To investigate the possible association of the rs2165241 polymorphism (C > T) in LOXL1 gene with the risk of primary open-angle glaucoma in a Mediterranean population. Methods The analysis of genetic polymorphisms was performed by standard TaqMan allelic discrimination technique, using a 7900HT Sequence Detection System (Applied Biosystems). Results In a recessive genetic model, the T allele of the rs2165241 polymorphism was significantly associated with the risk of primary open-angle glaucoma (TT vs. CC: odds ratios = 2.19, 95% confidence interval = [1.33–3.62]). After multivariate logistic regression model adjusted by age and weight, the magnitude of the association decreased b…
Underwater Multirobot Cooperative Intervention MAC Protocol
This work introduces a Medium Access Control (MAC) protocol designed to allow a group of underwater robots that share a wireless communication channel to effectively communicate with each other. The goal of the Underwater Multirobot Cooperative Intervention MAC (UMCI-MAC) protocol presented in this work is to minimize the end to end delay and the jitter. The access to the medium in UMCI-MAC follows a Time Division Multiple Access (TDMA) strategy which is arbitrated by a master, which also has the capability to prioritize the transmission of some nodes over the rest of the network. Two experiments have been carried out with a team of four Autonomous Underwater Vehicles (AUV) in order to comp…
Remote control within the UJI Robotics Manufacturing Cell using FPGA-based vision
In this paper we present a work in progress of a new remote control system based on networked robots and FPGAs technology. The experimental validation has been carried out within the UJI (i.e. the acronym for University Jaume I) Robotics Manufacturing Cell. The main devices included in this Cell are: a SCARA manipulator (AdeptOne), a robot arm with six degrees of freedom (Motoman), an industrial belt, several sensors and cameras, an FPGA that takes care of the computer vision algorithms (i.e. including grasping determination), and a distributed architecture that allows any user to control remotely via Internet a specific manufacturing task. The different components of this system are connec…
Underwater Wireless Communications for Cooperative Robotics with UWSim-NET
The increasing number of autonomous underwater vehicles (AUVs) cooperating in underwater operations has motivated the use of wireless communications. Their modeling can minimize the impact of their limited performance in real-time robotic interventions. However, robotic frameworks hardly ever consider the communications, and network simulators are not suitable for HIL experiments. In this work, the UWSim-NET is presented, an open source tool to simulate the impact of communications in underwater robotics. It gathers the benefits of NS3 in modeling communication networks with those of the underwater robot simulator (UWSim) and the robot operating system (ROS) in modeling robotic systems. Thi…
The UJI industrial robotics telelaboratory: Real-time vision and networking
In this video we present a work in progress in the UJI (i.e. the acronym for University Jaume I) robotics telelaboratory. This telelaboratory uses a remote control system based on networked robots and FPGAs technology. The main devices included in this cell are: a SCARA manipulator (AdeptOne), a robot arm with six degrees of freedom (Motoman), an industrial belt, several sensors and cameras, an FPGA that takes care of the computer vision algorithms (i.e. including grasping determination), and a distributed architecture that allows any user to control remotely via Internet a specific manufacturing task. The different components of this system are connected by a 100BaseT Ethernet network and …
UWSim-NET: An Open-Source Framework for Experimentation in Communications for Underwater Robotics
The communication with the remotely operated vehicles (ROV) in underwater applications are usually based on umbilical cables. The increase in the number of ROVs in cooperative interventions motivates the interest in underwater wireless communications. They have a high impact in robotic applications because of their limited performance in underwater scenarios. In this work we present UWSim-NET, an extension of the simulator for underwater robotics UWSim, which is based on the Robot Operating System (ROS). UWSim-NET integrates a communications module based on Network Simulator 3 (NS3) that allows to model the physical and data link layers. Experiments demonstrating the capabilities of UWSim-N…
Wireless HROV Control with Compressed Visual Feedback Using Acoustic and RF Links
AbstractUnderwater cooperative robotics offers the possibility to perform challenging intervention applications, such as recovering archeological objects as within the context of the MERBOTS research project, or grasping, transporting and assembly of big objects, using more than one mobile manipulator, as faced by the TWINBOT project. In order to enhance safety during the intervention, it is reasonable to avoid the umbilical, also giving more mobility to the robots, and enabling a broader set of cooperative movements. Several solutions, based on acoustic, radiofrequency (RF) or Visual Light Communication (VLC) have been proposed for underwater communications in the literature. This paper pr…