Search results for "Robot"
showing 10 items of 1036 documents
Modelling and Simulation of Ego-Noise of Unmanned Aerial Vehicles
2020
In this paper, we develop a simulation model for the ego-noise of unmanned aerial vehicles (UAVs). The ego-noise is composed of spike noise and background noise. The spike noise is modelled by a finite sum of sinusoids, while the background noise is modelled by a coloured Gaussian stationary process. The main property of our model is that it only depends on physical characteristics of the UAV and it does not need real-time audio inputs to be developed. This model is very useful for training novel noise cancelling algorithms and for evaluating their performance. To validate the proposed model, we compare the statistical properties of the ego-noise simulated using our model with actual ego-no…
Structure from motion using a hybrid stereo-vision system
2015
International audience; This paper is dedicated to robotic navigation using an original hybrid-vision setup combining the advantages offered by two different types of camera. This couple of cameras is composed of one perspective camera associated with one fisheye camera. This kind of configuration , is also known under the name of foveated vision system since it is inspired by the human vision system and allows both a wide field of view and a detail front view of the scene. Here, we propose a generic and robust approach for SFM, which is compatible with a very broad spectrum of multi-camera vision systems, suitable for perspective and om-nidirectional cameras, with or without overlapping fi…
Motor learning and body size within an insect brain computational model
2014
Nowadays modeling insect brains is also an important source of inspiration to develop learning architectures and control algorithms for applications on autonomous walking robots. Within the insect brain two important neuropiles received a lot of attention: the mushroom bodies (MBs) and the central complex (CX). Recent research activities considered the MBs as a unique architecture where different behavioural functions can be found. MBs are well known in bees and flies for their role in performing associative learning and memory in odor conditioning experiments [4]. They are also involved in the processing of multiple sensory modalities including visual tasks [3], different forms of learning…
Process Modeling and Planning for Robotic Cold Spray Based Additive Manufacturing
2020
Cold spray (CS) is a solid-state coating deposition technology that has recently been applied as an additive manufacturing (AM) process to fabricate individual components. This potential AM process is attracting more and more attention because of its advantages: high-forming efficiency, low temperature, and no phase changing of materials. These advantages make CS able to form large-volume objects to become an efficient and effective AM process. Nowadays, new advances in cold spray additive manufacturing (CSAM) call for new process implementation to improve the manufacturing accuracy and flexibility. Therefore, the purpose of this study is to enhance CS-based AM through the modeling and plan…
Selecting industrial robots for milling applications using AHP
2017
Abstract Industrial robots are usually used for pick-and-place applications, which require only point-to-point motion control. However, the recent developments, both in robot technology and in Computer Automated Machining (CAM) software, allow the use of these equipment in applications which require continuous path control, such as multi-axis milling processes. However, the producers do not offer robots specifically developed for this kind of application, thus the user has to choose the most appropriate robot for this goal from a wide range of general purpose robot types. This research work proposes a method based upon Analytic Hierarchy Process (AHP) for selecting the industrial robot for …
The Insect Mushroom Bodies: a Paradigm of Neural Reuse
2013
This paper is devoted to discuss the implementation of models,which are inspired by the fly Drosophila melanogaster and able to handle open problems in the field of robotics such as attention, expectation and sequence learning. The role of the Mushroom Bodies (MBs) in solving these tasks is analyzed in detail and a unifying plausible biologically inspired model is proposed. The developed neural structure is able to show different capabilities in line with the paradigm of neural reuse. The same neural circuit can be exploited to accomplish multiple tasks showing interesting capabilities such as attention, expectation and delayed match-to-sample. The simulation results here reported suggest a…
Robotics Studies in Europe
2012
This paper describes the organization and teaching methodologies for mechanics and robotics related subjects in the European Erasmus Mundus master programmes EMARO (European master in Advanced Robotics), and VIBOT (master courses in VIsion & roBOTics). The structure of these masters is overviewed, the experience in designing and managing them is outlined and we point out the common effort for a global reach of these programmes and to build a transnational teaching architecture.
Low-cost solutions for manipulation tasks in manufacturing systems: balancing costs and performances
2010
Abstract Industrial robots are distinguished from other types of machinery mainly on the basis of their programmability and adaptability to different tasks. However, the cost s of the state of the art solutions for every system within their structure became very high compared with some applications. This work presents two proposed solutions of so called robotic manipulators, which may fulfil some of the manipulating tasks specific to industrial robots while using low-cost solutions of transmission, actuation and automation systems.
An architecture for automatic gesture analysis
2000
The field of human-computer interaction has been widely investigated in the last years, resulting in a variety of systems used in different application fields like virtual reality simulation environments, software user interfaces, and digital library systems.A very crucial part of all these systems is the input module which is devoted to recognize the human operator in terms of tracking and/or recognition of human face, arms position, hand gestures, and so on.In this work a software architecture is presented, for the automatic recognition of human arms poses. Our research has been carried on in the robotics framework. A mobile robot that has to find its path to the goal in a partially struc…
Bimanual robot control for surface treatment tasks
2021
This work develops a method to perform surface treatment tasks using a bimanual robotic system, i.e. two robot arms cooperatively performing the task. In particular, one robot arm holds the workpiece while the other robot arm has the treatment tool attached to its end-effector. Moreover, the human user teleoperates all the six coordinates of the former robot arm and two coordinates of the latter robot arm, i.e. the teleoperator can move the treatment tool on the plane given by the workpiece surface. Furthermore, a force sensor attached to the treatment tool is used to automatically attain the desired pressure between the tool and the workpiece and to automatically keep the tool orientation …