Search results for " electronic engineering"
showing 10 items of 8284 documents
Scalability of GPU-Processed 3D Distance Maps for Industrial Environments
2018
This paper contains a benchmark analysis of the open source library GPU-Voxels together with the Robot Operating System (ROS) in large-scale industrial robotics environment. Six sensor nodes with embedded computing generate real-time point cloud data as ROS topics. The overall data from all sensor nodes is processed by a combination of CPU and GPU on a central ROS node. Experimental results demonstrate that the system is able to handle frame rates of 10 and 20 Hz with voxel sizes of 4, 6, 8 and 12 cm without saturation of the CPU or the GPU used by the GPU-Voxels library. The results in this paper show that ROS, in combination with GPU-Voxels, can be used as a viable solution for real-time …
High quality conservative surface mesh generation for swept volumes
2012
We present a novel, efficient and flexible scheme to generate a high quality mesh that approximates the outer boundary of a swept volume. Our approach comes with two guarantees. First, the approximation is conservative, i.e., the swept volume is enclosed by the generated mesh. Second, the one-sided Hausdorff distance of the generated mesh to the swept volume is upper bounded by a user defined tolerance. Exploiting this tolerance the algorithm generates a mesh that is adapted to the local complexity of the swept volume boundary, keeping the overall output complexity remarkably low. The algorithm is two-phased: the actual sweep and the mesh generation. In the sweeping phase we introduce a gen…
Summarizing Large Scale 3D Point Cloud for Navigation Tasks
2017
International audience; Democratization of 3D sensor devices makes 3D maps building easier especially in long term mapping and autonomous navigation. In this paper we present a new method for summarizing a 3D map (dense cloud of 3D points). This method aims to extract a summary map facilitating the use of this map by navigation systems with limited resources (smartphones, cars, robots...). This Vision-based summarizing process is applied in a fully automatic way using the photometric, geometric and semantic information of the studied environment.
Autonomous 3D geometry reconstruction through robot-manipulated optical sensors
2021
Abstract Many industrial sectors face increasing production demands and need to reduce costs, without compromising the quality. Whereas mass production relies on well-established protocols, small production facilities with small lot sizes struggle to update their highly changeable production at reasonable costs. The use of robotics and automation has grown significantly in recent years, but extremely versatile robotic manipulators are still not commonly used in small factories. Beside of the investments required to enable efficient and profitable use of robot technology, the efforts needed to program robots are only economically viable in case of large lot sizes. Generating robot programs f…
Robust link prediction in criminal networks: A case study of the Sicilian Mafia
2020
Abstract Link prediction exercises may prove particularly challenging with noisy and incomplete networks, such as criminal networks. Also, the link prediction effectiveness may vary across different relations within a social group. We address these issues by assessing the performance of different link prediction algorithms on a mafia organization. The analysis relies on an original dataset manually extracted from the judicial documents of operation “Montagna”, conducted by the Italian law enforcement agencies against individuals affiliated with the Sicilian Mafia. To run our analysis, we extracted two networks: one including meetings and one recording telephone calls among suspects, respect…
Body Gestures and Spoken Sentences: A Novel Approach for Revealing User’s Emotions
2017
In the last decade, there has been a growing interest in emotion analysis research, which has been applied in several areas of computer science. Many authors have con- tributed to the development of emotion recognition algorithms, considering textual or non verbal data as input, such as facial expressions, gestures or, in the case of multi-modal emotion recognition, a combination of them. In this paper, we describe a method to detect emotions from gestures using the skeletal data obtained from Kinect-like devices as input, as well as a textual description of their meaning. The experimental results show that the correlation existing between body movements and spoken user sentence(s) can be u…
Backlash Identification in Two-Mass Systems by Delayed Relay Feedback
2019
Backlash, also known as mechanical play, is a piecewise differentiable nonlinearity which exists in several actuated systems, comprising, e.g., rack-and-pinion drives, shaft couplings, toothed gears, and other machine elements. Generally, the backlash is nested between the moving parts of a complex dynamic system, which handicaps its proper detection and identification. A classical example is the two-mass system which can approximate numerous mechanisms connected by a shaft (or link) with relatively high stiffness and backlash in series. Information about the presence and extent of the backlash is seldom exactly known and is rather conditional upon factors such as wear, fatigue and incipien…
Security Assessment of a Distributed, Modbus-based Building Automation System
2017
Building automation systems were designed in an era when security was not a concern as the systems were closed from outside access. However, multiple benefits can be found in connecting such systems over the Internet and controlling a number of buildings from a single location. Security breaches towards building automation systems are increasing and may cause direct or indirect damages to the target organization or even the residents of the building. This work presents an approach to apply a method of data flow recognition and environment analysis to building automation through a case study on a distributed building automation system utilizing the Modbus protocol at the sites and presents s…
Selective visual odometry for accurate AUV localization
2015
In this paper we present a stereo visual odometry system developed for autonomous underwater vehicle localization tasks. The main idea is to make use of only highly reliable data in the estimation process, employing a robust keypoint tracking approach and an effective keyframe selection strategy, so that camera movements are estimated with high accuracy even for long paths. Furthermore, in order to limit the drift error, camera pose estimation is referred to the last keyframe, selected by analyzing the feature temporal flow. The proposed system was tested on the KITTI evaluation framework and on the New Tsukuba stereo dataset to assess its effectiveness on long tracks and different illumina…
A robust two-feedback loops position control algorithm for compliant low-cost series elastic actuators
2019
Elastic joints are considered to outperform rigid joints in terms of peak dynamics, collision tolerance, robustness, and energy efficiency. Therefore, intrinsically elastic joints have become progressively prominent over the last years for a variety of robotic applications. In this article, a two-feedback loops position control algorithm is proposed for an elastic actuator to deal with the influence from external disturbances. The considered elastic actuator was recently designed by our research group for Serpens, a low-cost, open-source and highly-compliant multi-purpose modular snake robot. In particular, the inner controller loop is implemented as a model reference adaptive controller (M…