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This paper presents the initial work toward deep space robotic applications. Humanoid robots as astronauts can experience gravity differences, hazardous environmental conditions, extreme latency communications, and lack of energy sources while on deep space missions. Such constraints provide a challenge in the development of software, hardware, and experiments for space humanoid robots. This paper...
Small Unmanned Aircraft Systems (sUAS) are already revolutionizing agricultural and environmental monitoring through the acquisition of high-resolution multi-spectral imagery on-demand. However, in order to accurately understand various complex environmental and agricultural processes, it is often necessary to collect physical samples of pests, pathogens, and insects from the field for ex-situ analysis...
microMVP is an affordable, portable, and open source micro-scale mobile robot platform designed for robotics research and education. As a complete and unique multi-vehicle platform enabled by 3D printing and the maker culture, microMVP can be easily reproduced and requires little maintenance: a set of six micro vehicles, each measuring 8 × 5 × 6 cubic centimeters and weighing under 100 grams, and...
The faithful and flexible simulation of mobile robotic platforms with different application-specific sensing capabilities will become increasingly important in order to test a wide range of scenarios without having to run real missions. Current research focuses primarily on the mobility dynamics of such systems, and to this end a lot of work has already been done to support the simulation of various...
The aim of this paper the extraction of human body dimensions using the latest Microsoft Kinect device. Another focus is the analysis of various application of this device in specific branches of science and research and its application in estimation of dimensions. Brief analysis of the device itself is carried out as well. The principal output of this paper the software application that utilizes...
As an excellent underwater biorobotics, robotic fish has got considerable development in recent decades. However the majority of researches assume that the flow field where the fish swims is a steady one, ignoring the fact that fish in nature has to deal with diverse flow fields. This takes part of responsibility for the low efficiency of robotic fish comparing with live one. In this paper, we present...
The objective of this paper has been the development of a prototype of articulated robotic arm and the implementation of a control strategy through gesture recognition (Leap Motion Sensor), by means the natural movement of the forearm and hand. The series of advances relative to the control techniques have caused that the robotics it has also introduced as an educational complement in obligatory basic...
The task of planetary exploration poses many challenges for a robot system, from weight and size constraints to sensors and actuators suitable for extraterrestrial environment conditions. In this work, we present the Light Weight Rover Unit (LRU), a small and agile rover prototype that we designed for the challenges of planetary exploration. Its locomotion system with individually steered wheels allows...
This paper introduces NASA's new free-flying robot, Astrobee, especially focusing on its avionics and perching subsystems. Astrobee is a cube-shaped autonomous robot designed for various missions on the International Space Station (ISS). Its major goal is to offload routine and repetitive work from the ISS crews and assist their science activities. Astrobee is also designed for scientists to use it...
Consumer grade technology seen in cameras and phones has led to the price/performance ratio of sensors and processors falling dramatically over the last decade. In particular, most devices are packaged with a camera, a gyroscope, and an accelerometer, important sensors for aerial robotics. The low mass and small form factor make them particularly well suited for autonomous flight with small flying...
We present an autonomous quadrotor system that is able to perform high precision landing on small platform in both indoor and outdoor environment. Its taking off and landing processes are fully autonomous. We use vision sensor to detect the landing platform, and the vision measurement is enhanced by IMU with SRUKF based sensor fusion method. All computation are done real-time and on-board. We implement...
The paper presents a systematic approach to robot control system design. The robot is treated as an embodied agent decomposed into effectors, receptors, both real and virtual, and a control subsystem. Those entities communicate through communication buffers. The activities of those entities are governed by FSMs that invoke behaviours formulated in terms of transition functions taking as arguments...
This paper describes the development of a low cost robotic platform named MYRABot+, which is able to make the required tasks in order to assist a human in a domestic environment. We also believe that the best way to measure its performance and validate its behavior is taking part in a robotic challenge. This robotic platform explicitly uses low cost components, making it an accessible platform in...
This paper focuses on the use of the Virtual Robotics Experimental Platform (V-REP) and the Robotics Operative System (ROS) working in parallel for design, test, and tuning of a vision based control system to command an Unmanned Aerial Vehicle (UAV). Here, is presented how to configure the V-REP and ROS to work in parallel, and the developed software in ROS for the pose estimation based on vision...
In recent years, many so called “robotic toys” appeared at the market. Though these devices are called toys and they are primarily intended for games, they provide a set of sensors and actuators that can be controlled from a computer. Hence these robotic devices may serve as non-expensive research tools, in particular for developing advanced software for controlling them. This paper describes a controller...
Mobile sensor networks are often composed of agents with weak processing capabilities and some means of mobility. However, recent developments in embedded systems have enabled more powerful and portable processing units capable of analyzing complex data streams in real time. Systems with such capabilities are able to perform tasks such as 3D visual localization and tracking of targets. They are also...
This paper proposed a novel method detecting relative position and posture of cooperative target based on monocular images. Four uccoplanar leds are used as feature points, a single camera is used to realize image acquisition and processing, Posit algorithm is adopted to caculate relative translation vector and rotation matrix of the target, the effectiveness of the pose estimation method is verified...
This paper describes our on-going efforts toward developing heterogeneous, cooperative systems technologies. In particular, we present the role of unmanned mobile ground systems (robots) in a heterogeneous sensor network, consisting of two unmanned aircraft, a mobile ground robot, and a set of four stationary ground sensors, performing an intelligence, surveillance, and reconnaissance (ISR) mission...
An Internet-based teleoperation application system is introduced, which is designed to connect with Brain-Computer Interface. The hardware and software parts of the system are included. The system is divided into two parts (master-slave) in the hardware and four parts in the software part. Test results of the system to perform a teleoperation through network are recorded. At last, the usability of...
For a set of mobile sensor network, a precise localization is required in order to maximize the utilization of mobile sensor network. As well, mobile robots also need a precise localization mechanism for the same reason. In this paper, we showed a combination of various localization mechanisms. Localization can be classified in three big categories: long distance localization with low accuracy, medium...
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