Search results for " Rob"

Using the Microcontroller and the PLC in a RPP Robot Control

2012

This paper presents some aspects regarding the possibility of combining microcontroller and programmable logic controller (PLC) for robot control. The RPP robot is designed and manufactured within the Faculty of Engineering from “Lucian Blaga” University of Sibiu, as a patent: BRAŢ TELESCOPIC, Nr. 112418 B1, Int.CI.6 B 25 J 18/02, from 17.02.1997. Classical systems for programming and control of industrial robot are based on numerical control equipment, developed around a PC. Programmable Logic Controllers (PLC) haves proven to be viable alternatives to driving machine tools, industrial systems and Robots. Microcontrollers as computers offer advantage due to programmable inputs and outputs …

Velocity sensorless control of uncertain load using RKF tuned with an evolutionary algorithm and mu-analysis

2010

Abstract In case of a velocity control scheme for a load directly driven by an actuator, large variations of its parameters are problematic due to possible instability and large variations of the final performances. This performances are then decreasing if a sensorless control is implemented due to cost, reliability or application constraints. This paper proposes solutions to quickly and accurately tune an observer with a lower computer time consumption and lower conception time. A previous calculated state feedback is used as base for a Kalman filter with special noise matrices. An evolutionary algorithm optimizes the observers degrees of freedom all over the variations. The mu-analysis th…

ROAD project: Robotics for assisted diving

2014

The activities associated to underwater diving are of great importance in many areas. In the second half of the last century, diving technologies have greatly progressed, but diving is still characterized by significant risks, especially for professional divers who works at high depth, and limited practicability. The use of robotic systems and automatic procedures would allow, as in other situations where safety is of concern (for example, in case of hazardous works or in relation to hostile environments), a reliable monitoring and assessment of the physiological conditions of human operators during their activities. Moving from currently available technologies in underwater robotics, the R…

Recommendation of RILEM TC237-SIB: protocol for characterization of recycled asphalt (RA) materials for pavement applications

2018

This recommendation proposes an experimental protocol to characterize Recycled Asphalt (RA) materials. The guidelines presented in this document are based on the results of a Round Robin Test (RRT) organized by the RILEM Technical Committee 237-SIB “Testing and characterization of sustainable innovative bituminous materials and systems” and provide information on the testing procedure, data analysis and indications for the preparation of a test report.

A New HLA-Based Distributed Control Architecture for Agricultural Teams of Robots in Hybrid Applications with Real and Simulated Devices or Environme…

2011

The control architecture is one of the most important part of agricultural robotics and other robotic systems. Furthermore its importance increases when the system involves a group of heterogeneous robots that should cooperate to achieve a global goal. A new control architecture is introduced in this paper for groups of robots in charge of doing maintenance tasks in agricultural environments. Some important features such as scalability, code reuse, hardware abstraction and data distribution have been considered in the design of the new architecture. Furthermore, coordination and cooperation among the different elements in the system is allowed in the proposed control system. By integrating …

L'aventura èpica de l'exploració d'un nou món

2012

Les primeres observacions de Mart amb la sonda Mariner 9 descobriren un paisatge desèrtic ple de cràters i enigmàtiques conques fluvials. Spirit i Opportunity han descobert que Mart va tenir un oceà d'aigua líquida a la superfície i, per la seua banda, la sonda europea Mars Express detectà una emissió periòdica de gas metà en l'atmosfera. A partir d'agost del 2012 el robot explorador Curiosity, començarà a analitzar el planeta amb diversos instruments dissenyats per a estudiar l'atmosfera, el sòl i una possible biosfera marciana. The first observations of Mars with the Mariner 9 spacecraft discovered a desert landscape full of craters and mysterious river basins. Spirit and Opportunity have…

Assistive robotic walker parameter identification for estimation of human thrust without force sensors

2017

In this paper we propose a parameter identification procedure for the wheel-motor dynamic of a robotic walker, i.e. a commercial trolley for elderly people endowed with cognitive, sensing and guidance capabilities. The objective of the wheel-motor dynamic model is to generate a suitable time reference to be used in an estimation algorithm. The ultimate goal of the estimation algorithm is to retrieve the thrust, i.e. torque and force, that the older adult user of the robotic walker applies to the platform. These quantities are of paramount importance in order to adopt intelligent and comfortable walker guidance algorithms. The novelty of this approach is the avoidance of additional costly se…

Social networks and robot companions: Technology, ethics, and science fiction

2019

Information technologies have become part of our everyday lives and are increasingly acting as intermediaries in our workplaces and personal relationships or even substituting them. This growing interaction with machines poses several questions about which we have no previous experience, nor can we reliably predict how they will influence the evolution of society. This has led to the convergence of technoscience and humanities in an ethical debate that is starting to bear fruit, not only with the setting of regulations and standards, but also with educational initiatives in university teaching, professional improvement, and the conformation of public opinion. Interestingly, science fiction …

Robres, Fernando Andrés, Benítez Sanchez-Blanco, Rafael y Ciscar Pallarés, Eugenio: El monasterio rebelde. Monarquía y poder monástico en reinode Val…

2021

FastSLAM 2.0: Least-Squares Approach

2006

In this paper, we present a set of robust and efficient algorithms with O(N) cost for the following situations: object detection with a laser ranger; mobile robot pose estimation and a FastSLAM improved implementation. Objected detection is mainly based on a novel multiple line fitting method, related with walls at the environment. This method assumes that walls at the environment constitute a regular constrained angles. A line-based pose estimation method is also proposed, based on Least-Squares (LS). This method performs the matching of detected lines and estimated map lines and it can provide the global pose estimation under assumption of known Data-Association. FastSLAM 1.0 has been imp…