TDM: A software framework for elegant and rapid development of autonomous behaviors for humanoid robots

Author(s):  
Vincent Berenz ◽  
Fumihide Tanaka ◽  
Kenji Suzuki ◽  
Mark Herink
2015 ◽  
Vol 57 (2) ◽  
Author(s):  
Nikolaus Vahrenkamp ◽  
Mirko Wächter ◽  
Manfred Kröhnert ◽  
Kai Welke ◽  
Tamim Asfour

AbstractWith ArmarX we introduce a robot programming environment that has been developed in order to ease the realization of higher level capabilities needed by complex robotic systems such as humanoid robots. ArmarX is built upon the idea that consistent disclosure of the system state strongly facilitates the development process of distributed robot applications. We show the applicability of ArmarX by introducing a robot architecture for a humanoid system and discuss essential aspects based on an exemplary pick and place task. With several tools that are provided by the ArmarX framework, such as graphical user interfaces (GUI) or statechart editors, the programmer is enabled to efficiently build and inspect component based robotics software systems.


2016 ◽  
Vol 3 ◽  
Author(s):  
Stefan Kohlbrecher ◽  
Alexander Stumpf ◽  
Alberto Romay ◽  
Philipp Schillinger ◽  
Oskar von Stryk ◽  
...  

Author(s):  
Ronghua Liang

Real-time visualization algorithms which are fully integrated into software framework are of importance for the rapid development of medical visualization applications. This chapter gives an overview of different software frameworks for real-time visualization algorithms. These algorithms are fully integrated into some open-source freely-available software frameworks. First, we introduce the famous Visualization Toolkit (VTK), and we then describe some other specialized toolkits, for example, for image registration and segmentation, MAF (Multimod Application Framework) supported by an EC-funded project MULTIMOD. We discuss the majority of algorithms available that can be easily combined for rapid construction of visualization applications. Finally, we place emphasis on exploiting the characteristics of medical datasets for further utilizing the hardware-accelerated capabilities of modern graphics cards.


2005 ◽  
Vol 02 (03) ◽  
pp. 361-387 ◽  
Author(s):  
MIOMIR VUKOBRATOVIĆ ◽  
BRANISLAV BOROVAC ◽  
KALMAN BABKOVIĆ

The rapid development of robotics has led to the appearance of very complex humanoid robots possessing already about fifty degrees of freedom. Bearing in mind that such robots will be increasingly more engaged in the close environment of humans, it is expected that the problem of "working coexistence" of man and robot sharing the common workspace will become acute in the near future. Since no significant rearrangement of the human's environment because of the presence of robots can be expected, robots will have to further "adapt" to the environment previously dedicated only to humans. This paper raises some new fundamental questions concerning the necessary degree of anthropomorphism of humanoid robots. What is particularly challenging is how to achieve a sufficiently high degree of anthropomorphism with a reasonable number of degrees of freedom. Using the example of a humanoid robot, concrete measures are proposed as to how to attain the desired degree of its anthropomorphism.


2016 ◽  
Vol 3 ◽  
Author(s):  
Jürgen Leitner ◽  
Simon Harding ◽  
Alexander Förster ◽  
Peter Corke

2011 ◽  
Author(s):  
Jessie Young ◽  
Haytham Elhawary ◽  
Aleksandra Popovic

We have integrated the Philips Research robot arm with the Johns Hopkins cisst library, an open-source platform for computer assisted surgical intervention, for assistance during minimally invasive cardiac surgery using image-based steering of an endoscope. The development of a Matlab to C++ wrapper to abstract away servo-level details facilitates the rapid development of a component-based framework with “plug and play” features. This allows the user to easily exchange the robot with an alternative manipulator while maintaining the same overall functionality.


Electronics ◽  
2020 ◽  
Vol 9 (10) ◽  
pp. 1631
Author(s):  
Lin Zhang ◽  
Bing Li ◽  
Yong Liu ◽  
Xia Zhao ◽  
Yazhou Wang ◽  
...  

With the rapid development of the Internet, malware traffic is seriously endangering the security of cyberspace. Convolutional neural networks (CNNs)-based malware traffic classification can automatically learn features from raw traffic, avoiding the inaccuracy of hand-design traffic features. Through the experiments and comparisons of LeNet, AlexNet, VGGNet, and ResNet, it is found that LeNet has good and stable classification ability for malware traffic and normal traffic. Then, a field programmable gate array (FPGA) accelerator for CNNs-based malware traffic classification is designed, which consists of a parameterized hardware accelerator and a fully automatic software framework. By fully exploring the parallelism between CNN layers, parallel computation and pipeline optimization are used in the hardware design to achieve high performance. Simultaneously, runtime reconfigurability is implemented by using a global register list. By encapsulating the underlying driver, a three-layer software framework is provided for users to deploy their pre-trained models. Finally, a typical CNNs-based malware traffic classification model was selected to test and verify the hardware accelerator. The typical application system can classify each traffic image from the test dataset in 18.97 μs with the accuracy of 99.77%, and the throughput of the system is 411.83 Mbps.


Author(s):  
James C. Long

Over the years, many techniques and products have been developed to reduce the amount of time spent in a darkroom processing electron microscopy negatives and micrographs. One of the latest tools, effective in this effort, is the Mohr/Pro-8 film and rc paper processor.At the time of writing, a unit has been recently installed in the photographic facilities of the Electron Microscopy Center at Texas A&M University. It is being evaluated for use with TEM sheet film, SEM sheet film, 35mm roll film (B&W), and rc paper.Originally designed for use in the phototypesetting industry, this processor has only recently been introduced to the field of electron microscopy.The unit is a tabletop model, approximately 1.5 × 1.5 × 2.0 ft, and uses a roller transport method of processing. It has an adjustable processing time of 2 to 6.5 minutes, dry-to-dry. The installed unit has an extended processing switch, enabling processing times of 8 to 14 minutes to be selected.


Sign in / Sign up

Export Citation Format

Share Document