Search results for " Rob"
showing 10 items of 689 documents
Design and Characterization of a Miniature Hydraulic Power Supply for High-Bandwidth Control of Soft Robotics
2020
Soft robotics holds enormous promise for a wide class of applications. However, system controllability, bandwidth, portability, and energy efficiency of soft robot power supplies are often inadequate. Soft robotics desperately needs improved solutions to drive soft actuators either pneumatically or hydraulically. This research paper offers a contribution to bridge this gap. It deals with small-scale power supplies for hydraulically-driven soft robots based on fluidic elastomer actuators in the power range 5-400 W. A design procedure for such power supplies is developed with an emphasis on high-bandwidth control. The performance requirements are established based on a literature survey, and …
Hibrid Adaptive/EKF Motion Control and Data Fusion for Ground Vehicles with Kinematical and Dynamical Uncertainties
2006
This paper considers the motion control problem of ground vehicles with nonholonomic constraints and parametric uncertainties both in the kinematic and in the dynamic model. The presence of uncertainties above is treated using adaptation laws where the Lyapunov's stability of the position and orientation errors is proved. Now, if the feedback signals are position and orientation provided by incremental encoders only, then noises of the odometric sensors above can damage the control in terms of difference between the desired and the actual motion of the vehicle and in terms of performances of the parametric adaptation. So an extended Kalman's filter (EKF) is inserted in the feedback for meas…
Noised Trajectory tracking Control based on Fuzzy Lyapunov approach for Wheeled Vehicles
2005
This paper solves a trajectory tracking control problem whit outside perturbations for wheeled nonholonomic vehicles using a Fuzzy Lyapunov method. Trough a symbiosis between classical backstepping techniques and fuzzy logic, the control system ensures a good robustness with respect to outside perturbations. Possible causes of perturbations are the characteristics of the ground and the contact between the wheels and the ground. These perturbations can interact with the vehicle, they are sources of uncertainty for the system model and can perturb the validity of the nonholonomic constraints. The convergence of the tracking errors to the origin and the asymptotic stability of the equilibrium …
Teaching Physics Concepts Using Educational Robotics
2019
This paper reports a study included in the national project PROMISE funded by the Italian Ministry of Education, University and Research. It examines the application of an educational robotics laboratory with secondary school students for learning concept about physics. In the paper we describe the didactic strategies that have been implemented during the activities and we give some qualitative outcomes related to effectiveness of the laboratory. Indeed we observed interesting results in students both in term of learning and of interest and participation. The importance of teacher involvement in this type of intervention will also be discussed.
A Playful Experiential Learning System With Educational Robotics
2020
This article reports on two studies that aimed to evaluate the effective impact of educational robotics in learning concepts related to Physics and Geography. The reported studies involved two courses from an upper secondary school and two courses from a lower secondary school. Upper secondary school classes studied topics of motion physics, and lower secondary school classes explored issues related to geography. In each grade, there was an “experimental group” that carried out their study using robotics and cooperative learning and a “control group” that studied the same concepts without robots. Students in both classes were subjected to tests before and after the robotics laboratory, to c…
Decentralized Coordination System for Multiple AGVs in a Structured Environment
2011
Abstract In this paper, we propose a decentralized coordination algorithm for safe and efficient management of a group of mobile robots following predefined paths in a dynamic industrial environment. The proposed algorithm is based on shared resources and proved to guarantee ordered traffic flows avoiding collisions and deadlocks. In consistency with the model of distributed robotic systems (DRS), no centralized mechanism, synchronized clock, shared memory or ground support is needed. A local inter-robot communication is required among a small number of spatially adjacent robotic units.
A case of femoral-facial syndrome in a patient with autism spectrum disorders.
2011
The Femoral hypoplasia - unusual facies syndrome (FHUF) or Femoral - facial syndrome (FFS) was at first described in 1975. Up to now about 60 cases have been reported. According to our knowledge only 4 cases have had congenital central nervous system's malformations, furthermore the main stages of psychomotor development are almost always reported as normal or slightly altered in early childhood. We describe the first case of autism spectrum disorders (ASD) in a patient with FFS, emphasizing that this rare association could be one of many unrecognized underlying features.
El cuerpo y la ausencia: la obra literaria de Enrique J. Vila Torres
2014
Resumen: En este ensayo se analiza la obra literaria del abogado y escritor espanol Enrique Vila Torres, artifice, en 2011, de una clamorosa denuncia colectiva concerniente una de las mas horribles violaciones de los derechos humanos acaecida en un pais occidental en el siglo XX: la salvaje compraventa a escala nacional de miles de bebes, robados con el engano a sus madres biologicas. Sus cuentos, todos basados en hechos reales, constituyen un genero hibrido en que se representa la evidencia del cuerpo y las circunstancias del engendramiento, el trauma de la separacion forzada y la consecuente ausencia, el fluir de una vida desgarrada basada en la mentira y la jadeante busqueda del propio c…
La sonrisa del caudillo
2014
Obra de teatro sobre Vallejo-Nágera y los niños robados en las cárceles franquistas.
A Robotic Humanoid for Information Exploration on Cultural Heritage Domain
2020
The work presented here illustrates an humanoid robot capable of interacting with an human user within the Cultural Heritage domain. Two different and complementary AI approaches, namely sub-symbolic and symbolic, have been implemented and combined together to design the framework of a robot having both rational and intuitive capabilities. Furthermore, the robot is capable of providing information expressively and of adapting its behavior according to the emotional content of the artworks descriptions. This could make the robot more effective in providing information and entertaining the users.