Search results for "Robotics"
showing 10 items of 484 documents
Robustness Analysis of an Extended Kalman Filter for Sensorless Control of Induction Motors
2010
This paper deals with robustness analysis of Extended Kalman Filters (EKFs) for sensorless motion control of induction motors. Analysis is carried out by means of simulation experiments considering a conventional EKF, in which system and measurement noise covariance matrices are constant, and an adaptive EKF in which the system noise covariance matrix is updated on-line using a PID-type algorithm driven by the stator current estimation errors.
SmartLeg: An intelligent active robotic prosthesis for lower-limb amputees
2011
In recent years, there has been a worldwide interest in improvement of mobility of people with lower limb amputation. In spite of significant development of new technologies during the last decade, commercial below-knee and above-knee prostheses are still energetically passive devices. However, many locomotive functions, like walking up stairs and slopes, need significant power in knee and ankle joints. The additional power for doing previously mentioned activities needs to be achieved by means of external energy sources, which should be integral prosthetic components. This paper presents preliminary investigations towards an active robotic prosthesis that could potentially enable people wi…
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…
Visual Behaviour Based Bio-Inspired Polarization Techniques in Computer Vision and Robotics
2012
For long time, it was thought that the sensing of polarization by animals is invariably related to their behavior, such as navigation and orientation. Recently, it was found that polarization can be part of a high-level visual perception, permitting a wide area of vision applications. Polarization vision can be used for most tasks of color vision including object recognition, contrast enhancement, camouflage breaking, and signal detection and discrimination. The polarization based visual behavior found in the animal kingdom is briefly covered. Then, the authors go in depth with the bio-inspired applications based on polarization in computer vision and robotics. The aim is to have a comprehe…
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 …
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…
The UJI industrial robotics telelaboratory: Real-time vision and networking
2008
In this video we present a work in progress in the UJI (i.e. the acronym for University Jaume I) robotics telelaboratory. This telelaboratory uses a remote control system based on networked robots and FPGAs technology. The main devices included in this cell are: a SCARA manipulator (AdeptOne), a robot arm with six degrees of freedom (Motoman), an industrial belt, several sensors and cameras, an FPGA that takes care of the computer vision algorithms (i.e. including grasping determination), and a distributed architecture that allows any user to control remotely via Internet a specific manufacturing task. The different components of this system are connected by a 100BaseT Ethernet network and …
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 …
A System for Simultaneous People Tracking and Posture Recognition in the context of Human-Computer Interaction
2005
The paper deals with an artificial-vision based system for simultaneous people tracking and posture recognition In the context of human-computer Interaction. We adopt no particular assumptions on the movement of a person and on Its appearance, making the system suitable to several real-world applications. The system can be roughly subdivided Into two highly correlated phases: tracking and recognition. The tracking phase Is concerned with establishing coherent relations of the same subject between frames. We adopted the Condensation algorithm due to Its robustness In highly cluttered environments. The recognition phase adopts a modified elgenspace technique In order to classify between sever…
Compensation of compliance errors in parallel manipulators composed of non-perfect kinematic chains
2012
The paper is devoted to the compliance errors compensation for parallel manipulators under external loading. Proposed approach is based on the non-linear stiffness modeling and reduces to a proper adjusting of a target trajectory. In contrast to previous works, in addition to compliance errors caused by machining forces, the problem of assembling errors caused by inaccuracy in the kinematic chains is considered. The advantages and practical significance of the proposed approach are illustrated by examples that deal with groove milling with Orthoglide manipulator.