scholarly journals Visual Detection in Linked Multi-Component Robotic Systems

Robotics ◽  
2013 ◽  
pp. 1516-1532
Author(s):  
Jose Manuel Lopez-Guede ◽  
Borja Fernandez-Gauna ◽  
Ramon Moreno ◽  
Manuel Graña
Keyword(s):  
Visual Detection ◽  
Robotic System ◽  
Robotic Systems ◽  
Identification System ◽  
Basic Information ◽  
System L ◽  
State Models ◽  
The Individual ◽  
Linking Element

In this chapter, a system to identify the different elements of a Linked Multi-Component Robotic System (L-MCRS) is specified, designed, and implemented. A L-MCRS is composed of several independent robots and a linking element between them which provide a greater complexity to these systems. The identification system is used to model each component of the L-MCRS using very basic information about each of the individual components. So, different state models that have been used in several works of the literature that have been reviewed can be covered. The chapter explains the design of the system and shows its frontend. This work is the first step towards a realistic implementation of L-MCRS.

Visual Detection in Linked Multi-Component Robotic Systems

2013 ◽  
pp. 78-97
Author(s):  
Jose Manuel Lopez-Guede ◽  
Borja Fernandez-Gauna ◽  
Ramon Moreno ◽  
Manuel Graña
Keyword(s):  
Visual Detection ◽  
Robotic System ◽  
Robotic Systems ◽  
Identification System ◽  
Basic Information ◽  
System L ◽  
State Models ◽  
The Individual ◽  
Linking Element

In this chapter, a system to identify the different elements of a Linked Multi-Component Robotic System (L-MCRS) is specified, designed, and implemented. A L-MCRS is composed of several independent robots and a linking element between them which provide a greater complexity to these systems. The identification system is used to model each component of the L-MCRS using very basic information about each of the individual components. So, different state models that have been used in several works of the literature that have been reviewed can be covered. The chapter explains the design of the system and shows its frontend. This work is the first step towards a realistic implementation of L-MCRS.

scholarly journals Gene Sequencing and Phylogenetic Analysis: Powerful Tools for an Improved Diagnosis of Fish Mycobacteriosis Caused by Mycobacterium fortuitum Group Members

2021 ◽  
Vol 9 (4) ◽  
pp. 797
Author(s):  
Davide Mugetti ◽  
Mattia Tomasoni ◽  
Paolo Pastorino ◽  
Giuseppe Esposito ◽  
Vasco Menconi ◽  
...  
Keyword(s):  
Phylogenetic Analysis ◽  
Gene Sequencing ◽  
Diagnostic Techniques ◽  
Individual Species ◽  
Identification System ◽  
Mycobacterium Fortuitum ◽  
Biochemical Tests ◽  
Species Determination ◽  
Gene Encoding ◽  
The Individual

The Mycobacterium fortuitum group (MFG) consists of about 15 species of fast-growing nontuberculous mycobacteria (NTM). These globally distributed microorganisms can cause diseases in humans and animals, especially fish. The increase in the number of species belonging to MFG and the diagnostic techniques panel do not allow to clarify their real clinical significance. In this study, biomolecular techniques were adopted for species determination of 130 isolates derived from fish initially identified through biochemical tests as NTM belonging to MFG. Specifically, gene sequencing and phylogenetic analysis were used based on a fragment of the gene encoding the 65 KDa heat shock protein (hsp65). The analyzes made it possible to confirm that all the isolates belong to MFG, allowing to identify the strains at species level. Phylogenetic analysis substantially confirmed what was obtained by gene sequencing, except for six strains; this is probably due to the sequences present in NCBI database. Although the methodology used cannot represent a univocal identification system, this study has allowed us to evaluate its effectiveness as regards the species of MFG. Future studies will be necessary to apply these methods with other gene fragments and to clarify the real pathogenic significance of the individual species of this group of microorganisms.

Development of an autonomous robotic system for beard shaving assistance of disabled people based on an adaptive force tracking impedance control

2021 ◽  
pp. 095440622098482
Author(s):  
Oladayo S Ajani ◽  
Samy FM Assal
Keyword(s):  
Impedance Control ◽  
Environmental Parameters ◽  
Robotic System ◽  
Robotic Systems ◽  
Full Potential ◽  
Robotic Assistance ◽  
Head Pose ◽  
Detection And Tracking ◽  
Control Scheme ◽  
Force Tracking

Recently, people with upper arm disabilities due to neurological disorders, stroke or old age are receiving robotic assistance to perform several activities such as shaving, eating, brushing and drinking. Although the full potential of robotic assistance lies in the use of fully autonomous robotic systems, these systems are limited in design due to the complexities and the associated risks. Hence, rather than the shared controlled or active robotic systems used for such tasks around the head, an adaptive compliance control scheme-based autonomous robotic system for beard shaving assistance is proposed. The system includes an autonomous online face detection and tracking as well as selected geometrical features-based beard region estimation using the Kinect RGB-D camera. Online trajectory planning for achieving the shaving task is enabled; with the capability of online re-planning trajectories in case of unintended head pose movement and occlusion. Based on the dynamics of the UR-10 6-DOF manipulator using ADAMS and MATLAB, an adaptive force tracking impedance controller whose parameters are tuned using Genetic Algorithm (GA) with force/torque constraints is developed. This controller can regulate the contact force under head pose changing and varying shaving region stiffness by adjusting the target stiffness of the controller. Simulation results demonstrate the system capability to achieve beard shaving autonomously with varying environmental parameters that can be extended for achieving other tasks around the head such as feeding, drinking and brushing.

Prototyping of Robotic Systems in Surgical Procedures and Automated Manufacturing Processes

2012 ◽  
pp. 356-378
Author(s):  
Zheng (Jeremy) Li
Keyword(s):  
Modeling And Simulation ◽  
System Design ◽  
Surgical Procedures ◽  
Biomedical Engineering ◽  
Robotic System ◽  
Robotic Systems ◽  
Manufacturing Processes ◽  
Automated Manufacturing ◽  
Design Development ◽  
Computer Aided

The prototyping and implementation of robotic system is a scientific and technological integrating of robotic system design, development, testing, and application. This chapter describes the recent development and applications of robotic systems to surgery procedures in biomedical engineering and automated manufacturing processes in industry. It includes the design and development, computer-aided modeling and simulation, prototype analysis, and testing of robotic systems in these two different applications.

4.3 Integration with Management

1981 ◽  
Vol 5 ◽  
pp. 131-135
Author(s):  
J. B. Kilkenny
Keyword(s):  
Dairy Cows ◽  
Reliable Data ◽  
Sufficient Information ◽  
Basic Information ◽  
Management Decisions ◽  
Essential Ingredient ◽  
Computerized Records ◽  
The Individual ◽  
Individual Farm ◽  
Basic Level

Three obvious statements but well worth repeating: “Computers are only an aid to summarizing information for use in assisting management decisions”; “Records are only of any use if they are used — they are not an end in themselves”; and “No point having sophisticated computerized management aids if the basic information is not available and if only decisions at a simple level are to be made”.Amongst dairy and pig producers, the need for keeping records is well established and probably over 40% of all dairy cows and pigs in Britain are involved in an enterprise recording scheme. By contrast, all too few beef and sheep producers currently keep any detailed computerized records in an organized way. It is estimated that only about 2% of all commercial beef and sheep are involved in an enterprise recording scheme. Good basic records are an essential ingredient to any more sophisticated management aid because these need to be based on relevant reliable data for individual situations. The need to use computers and their value on the individual farm is dependent upon having sufficient information to make it worthwhile employing them. The sophistication of management aids required for enterprises will be determined by the level of recording already involved. It is obvious that the requirements for beef and sheep producers are at a much more basic level than for many pig and dairy producers.

scholarly journals Virtual Pheromone Based Network Flow Control For Modular Robotic Systems

Electronics ◽  
2020 ◽  
Vol 9 (3) ◽  
pp. 481
Author(s):  
Van Tung Le ◽  
Trung Dung Ngo
Keyword(s):  
Flow Control ◽  
Network Flow ◽  
Communication Channel ◽  
Routing Algorithm ◽  
Robotic System ◽  
Robotic Systems ◽  
Application Development ◽  
Gradient Based ◽  
Communication Path

Guaranteeing data transmission between modules is the key for application development of modular robotic systems. In a multi-channel modular robotic system, intersection modules play an essential role of communication channel selection in controlling data flow toward desired destinations. The gradient-based routing algorithm is an ideal solution to create an one-way communication path from any robotic module to a designated destination. To create bi-directional communication for a communication path of robotic configuration, virtual pheromone-based routing algorithm is a promising mechanism for intersection modules due to its simplicity and distributivity. In this paper, we address a virtual pheromone based network flow control based on the integration of gradient and virtual pheromone-based routing algorithms. We validated this method through an education and entertainment application using our newly developed modular robotic system.

Connecting System for Quick Replacement of Mechatronic SCHUNK Power Cube Modules for Mobile Robotic Systems

2015 ◽  
Vol 772 ◽  
pp. 318-323 ◽  
Author(s):  
Zdenko Bobovský ◽  
Václav Krys ◽  
Ján Babjak ◽  
Tomáš Kot
Keyword(s):  
Robotic System ◽  
Robotic Systems ◽  
Kinematic Structure ◽  
Future Outlook ◽  
Control Application

The article describes the synthesis of the connecting system for mechatronic modules SCHUNK PowerCube PR70, PR90 and PW90. Emphasis is placed on enabling the quick reconfiguration of the kinematic structure of the manipulator for a mobile robotic system built from these modules. The article describes the process of synthesis of mechanic components of the system, hardware and software ensuring the necessary functions for the realization of connections, detection of orientation of the connected module, securing the flow of energy and data signals and the appropriate response in the control application of the system. This is substantiated by evaluating tests realized on produced prototypes of connecting systems. The article also describes a future outlook for further developments of the connecting system.

scholarly journals Smart and Modular

2011 ◽  
Vol 133 (09) ◽  
pp. 48-51
Author(s):  
Harry H. Cheng ◽  
Graham Ryland ◽  
David Ko ◽  
Kevin Gucwa ◽  
Stephen Nestinger
Keyword(s):  
Degrees Of Freedom ◽  
Robotic System ◽  
Search And Rescue ◽  
Degree Of Freedom ◽  
Robotic Systems ◽  
Modular Robots ◽  
Modular Robot ◽  
Modular Systems ◽  
The Past ◽  
Three Degrees Of Freedom

This article discusses the advantages of a modular robot that can reassemble itself for different tasks. Modular robots are composed of multiple, linked modules. Although individual modules can move on their own, the greatest advantage of modular systems is their structural reconfigurability. Modules can be combined and assembled to form configurations for specific tasks and then reassembled to suit other tasks. Modular robotic systems are also very well suited for dynamic and unpredictable application areas such as search and rescue operations. Modular robots can be reconfigured to suit various situations. Quite a number of modular robotic system prototypes have been developed and studied in the past, each containing unique geometries and capabilities. In some systems, a module only has one degree of freedom. In order to exhibit practical functionality, multiple interconnected modules are required. Other modular robotic systems use more complicated modules with two or three degrees of freedom. However, in most of these systems, a single module is incapable of certain fundamental locomotive behaviors, such as turning.

scholarly journals Completeness and Accuracy of a Wide-Area Maritime Situational Picture based on Automatic Ship Reporting Systems

2015 ◽  
Vol 69 (1) ◽  
pp. 156-168 ◽  
Author(s):  
Harm Greidanus ◽  
Marlene Alvarez ◽  
Torkild Eriksen ◽  
Vincenzo Gammieri
Keyword(s):  
Data Sources ◽  
Automatic Identification ◽  
Identification System ◽  
Individual Data ◽  
Area Of Interest ◽  
Reporting Systems ◽  
Ship Tracks ◽  
The Individual ◽  
Additional Value ◽  
System Today

Automatic ship reporting systems (AIS – Automatic identification System, LRIT – Long Range Identification and Tracking, VMS – Vessel Monitoring System) today allow global tracking of ships. One way to display the results is in a map of current ship positions over an area of interest, the Maritime Situational Picture (MSP). The MSP is dynamic and must be created by fusing the reporting systems' messages, constructing ship tracks and predicting ship positions to correct for latency especially in the case of AIS received by satellite which forms the bulk of the data. This paper discusses the completeness of the resulting MSP and the accuracy of its positions, quantifying the additional value of the individual data sources.

scholarly journals Robotic System for Physical Training of Older Adults

2020 ◽  
Author(s):  
Omri Avioz-Sarig ◽  
Samuel Olatunji ◽  
Vardit Sarne-Fleischmann ◽  
Yael Edan
Keyword(s):  
Older Adults ◽  
Experimental Studies ◽  
Life Quality ◽  
Humanoid Robots ◽  
Robotic System ◽  
User Preferences ◽  
Robotic Systems ◽  
Intention To Use ◽  
Physical Exercises ◽  
Python Programming

Abstract Physical exercise has many physical, psychological and social health benefits leading to improved life quality. This paper presents a robotic system developed as a personal coach for older adults aiming to motivate older adults to participate in physical activities. The robot instructs the participants, demonstrates the exercises and provides real-time corrective and positive feedback according to the participant’s performance as monitored by an RGB-D camera. Two robotic systems based on two different humanoid robots (Nao, toy-like and Poppy, mechanical-like) were developed and implemented using the Python programming language. Experimental studies with 32 older adults were conducted, to determine the preferable mode and timing of the feedback provided to the user to accommodate user preferences, motivate the users and improve their interaction with the system. Additionally, user preferences with regards to the two different humanoid robots used were explored. The results revealed that the system motivated the older adults to engage more in physical exercises. The type and timing of feedback influenced this engagement. Most of these older adults also perceived the system as very useful, easy to use, had a positive attitude towards the system and noted their intention to use it. Most users preferred the more mechanical looking robot (Poppy) over the toy-like robot (Nao).

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