Search results for "Real-time computing"
showing 10 items of 366 documents
Making Industrial Robots Smarter with Adaptive Reasoning and Autonomous Thinking for Real-Time Tasks in Dynamic Environments: A Case Study
2018
In order to extend the abilities of current robots in industrial applications towards more autonomous and flexible manufacturing, this work presents an integrated system comprising real-time sensing, path-planning and control of industrial robots to provide them with adaptive reasoning, autonomous thinking and environment interaction under dynamic and challenging conditions. The developed system consists of an intelligent motion planner for a 6 degrees-of-freedom robotic manipulator, which performs pick-and-place tasks according to an optimized path computed in real-time while avoiding a moving obstacle in the workspace. This moving obstacle is tracked by a sensing strategy based on ma-chin…
Underwater Wireless Communications for Cooperative Robotics with UWSim-NET
2019
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…
Smart sensing and adaptive reasoning for enabling industrial robots with interactive human-robot capabilities in dynamic environments — a case study
2019
Traditional industry is seeing an increasing demand for more autonomous and flexible manufacturing in unstructured settings, a shift away from the fixed, isolated workspaces where robots perform predefined actions repetitively. This work presents a case study in which a robotic manipulator, namely a KUKA KR90 R3100, is provided with smart sensing capabilities such as vision and adaptive reasoning for real-time collision avoidance and online path planning in dynamically-changing environments. A machine vision module based on low-cost cameras and color detection in the hue, saturation, value (HSV) space is developed to make the robot aware of its changing environment. Therefore, this vision a…
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…
Regularized LMS methods for baseline wandering removal in wearable ECG devices
2016
The acquisition of electrocardiogram (ECG) signals by means of light and reduced size devices can be usefully exploited in several health-care applications, e.g., in remote monitoring of patients. ECG signals, however, are affected by several artifacts due to noise and other disturbances. One of the major ECG degradation is represented by the baseline wandering (BW), a slowly varying change of the signal trend. Several BW removal algorithms have been proposed into the literature, even though their complexity often hinders their implementation into wearable devices characterized by limited computational and memory resources. In this study, we formalize the BW removal problem as a mean-square…
An Auto-Operated Telepresence System for the Nao Humanoid Robot
2013
International audience; This paper presents the development process of an auto-operated telepresence system for the Nao humanoid robot with the main functionality of directing the robot autonomously to an operator-defined target location within a static workspace. The workspace is observed by an array of top-view cameras, which are used to localize the robot by means of a color-based marker detection technique. The system is accessible world-wide to the remote operator through any Internet-capable device via a web-based control interface. The web server responsible for coordinating the communication between system and operator is hosted on a cloud-based infrastructure online. The system was…
Tabu Search to Plan Schedules in a Multiskill Customer Contact Center
2006
International audience; We have studied a realistic case of scheduling problem in a customer contact center, dealing with multiskill agents. Our model combines the last two steps of the standard approach by determining shifts and by assigning them to agents at the same time (scheduling and rostering). Moreover, we have considered realistic vacations, according to legal constraints and preferences of agents. We have envisioned entire weeks of work, with variable meal times and meal durations, without overtime. In this paper, we define the problem and describe a Tabu search based solution.
Two novel subjective logic-based in-network data processing schemes in wireless sensor networks
2016
Wireless sensor networks (WSNs) consist of connected low-cost and small-size sensor nodes. The sensor nodes are characterized by various limitations, such as energy availability, processing power, and storage capacity. Typically, nodes collect data from an environment and transmit the raw or processed data to a sink. However, the collected data contains often redundant information. An in-network processing scheme attempts to eliminate or reduce such redundancy in sensed data. In this paper, we propose two in-network data processing schemes for WSNs, which are built based on a lightweight algebra for data processing. The schemes bring also benefits like decreased network traffic load and inc…
A webGIS-based system for real time shelf life prediction
2016
Technologies to acquire and monitor changes in the product shelf life were described.Four different SL predictive models were considered.A simulated transport using a prototype of Smart Logistic Unit was analysed.Real time shelf life prediction system was implemented in a webGIS platform. Shelf-life (SL) prediction and Least Shelf-life First Out (LSFO) stock strategy are important factors in perishable food supply chain in order to reduce quality and economic losses.In particular, distribution represents one of the main critical phases in logistic chain management and only the introduction of monitoring procedure can allow a reduction in food losses. Literature shows several mathematical mo…
Traffic Flow Variables Estimation: An Automated Procedure Based on Moving Observer Method. Potential Application for Autonomous Vehicles
2019
Abstract The estimation of traffic flow variables (flow, space mean speed and density) plays a fundamental role in highways planning and designing, as well as in traffic control strategies. Moving Observer Method (MOM) allows traffic surveys in a road, or in a road network. This paper proposes a novel automated procedure, called MOM-AP based on Moving Observer Method and Digital Image Processing (DIP) Technique able to automatically detect (without human observers) and calculate flow q, space mean speed vs and density k in case of stationary and homogeneous traffic conditions. In order to evaluate how reliable is the MOM-AP, an experiment has been carried out in a segment of one two-lane si…