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The research community is experiencing nowadays a significant growth in the amount of sensor data made available to several practical applications, particularly those dealing with visual information. The availability of large datasets poses critical challenges for the selection of only relevant features to allow their timely use and interpretation. The recent years marked an increasing interest in...
Conference proceedings front matter may contain various advertisements, welcome messages, committee or program information, and other miscellaneous conference information. This may in some cases also include the cover art, table of contents, copyright statements, title-page or half title-pages, blank pages, venue maps or other general information relating to the conference that was part of the original...
Here, we introduce a forward model designed for predicting the expected reading of a bionic tactile sensor (antenna) mounted onto a wheeled robot. The model was used to distinguish self-generated stimulation from true tactile events to the antenna. An Echo State Network (ESN), a special type of recurrent neural network which is suitable for chaotic time series prediction, is used to implement the...
In this article, we analyze the effects of ambient light on Time of Flight (ToF) depth imaging for a plant's leaf in sunlight, shadow and room conditions. ToF imaging is sensitive to ambient light and we try to find the best possible integration times (IT) for each condition. This is important in order to optimize camera calibration. Our analysis is based on several statistical metrics estimated from...
An energy harvesting wireless wheel speed sensor is presented, which implements two basic functions for anti-lock braking, namely periodic transmission of wheel speed information and near real-time detection of the start/stop of wheel rotation. The prototype sensor is powered by reusing a commercially available variable reluctance electromagnetic speed sensor as an energy harvesting transducer. In...
This paper addresses the task of calibrating the kinematic parameters and odometry of car-like robots with dual-axis steering. To achieve this goal only the robots builtin laser rangers and no external tracking systems are employed. We introduce a method to actively calibrate the steering angles of both front and rear steering angles with a multi-input multi-output (MIMO) controller. Using the determined...
Autonomous robots are required to perform tasks in complex and dynamic environments. For this class of systems, traditional safety assuring methods are not satisfying due to the unknown effects of the interacting system with an open environment. Briefly speaking: What is not known during the development phase can not be adequately considered. In order to tackle this problem, it is proposed to extend...
We focus on increasing the execution efficiency and flexibility of fully predictable embedded platforms, with direct applications in wireless sensor networks. The proposed technique is a hybrid scheduling mechanism, which combines the high predictability of a non-preemptive cyclic scheduler with the efficiency of a modified version of the Earliest Deadline First algorithm. Implementation details on...
Steady improvement of robotic systems due to developments in the realm of sensing the world enables advances towards human-robot-cooperation. In order for the robot to be reactive in its environment objects need to be identified. In this paper an approach is presented which allows identification of objects in the working area of an industrial robot. Neural Networks are used as associative memory to...
in this paper, we propose a biofeedback system that employs a Cloud-Oriented Architecture (COA) for the dissemination of biofeedback information and services. The architecture provides the software infrastructure to build biofeedback applications that maintain the user's well-being by monitoring a number of physiological parameters and generate the appropriate feedback. Consequently, the architecture...
In this paper, a new and simple actuation system based on a magnetic levitation is proposed to move a small permanent magnet embedded in a Wireless Capsule Endoscope (WCE) for inspection of the colon. This study focuses on the design of a PID linear controller to hold the WCE and maintain it at a desired position relative to the robotic movable frame so that it can navigate the bowel by moving this...
One of the research voids in the study of home-based rehabilitation is the lack of benchmarks of the performance for various body kinematics. The objective of this work is to form a metric to evaluate the wrist motion for rehabilitation applications. The wrist motion components that were considered in this study are the angular velocity and acceleration in each plane of movement, namely Pronation/Supination,...
Robotics systems usually comprise sophisticated sensor and actuator systems with no less complex control applications. These systems are subject to frequent modifications and extensions and have to adapt to their environment. While automation systems are tailored to particular production processes, autonomous vehicles must adaptively switch their sensors and controllers depending on environmental...
This paper presents the main features and capabilities of a developed system based on augmented virtuality (AV), which is devoted to the assisted navigation of teleoperated robots. The goal is to provide users with a greater perception of the robot navigation environment that improves the accuracy in teleoperation tasks and reduces the workload required to drive. The developed system is a mixed-perspective...
It is well established that acquiring large amount of data can quickly lead to important data management challenges where processing capabilities become saturated and preempt full usage of the information available for autonomous systems to make educated decisions. While sub-sampling offers a naïve solution for reducing dataset dimension, it does not capitalize on the knowledge available in already...
The objective of this work was to improve the quality life of a person with a disability, resulting from the amputation of a hand (wrist disarticulation), through the development and construction of a prototype of robot hand myoelectric; that means, that can to command by EMG signals (electromyography), but with the advantage that imply his construction to local level, because it avoids resorting...
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