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Dissertations / Theses on the topic 'Robotik'
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Igelmo, Victor. "Using a general robot programming system to control an industrial robot." Thesis, Högskolan i Skövde, Institutionen för ingenjörsvetenskap, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:his:diva-15722.
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Industrial robot programs are usually created with the programming language that the manufacturer provides. These languages are often limited to cover the common usages within the industry. However, when a more advanced program is needed, then third-party programs are often used to, e.g., locating objects using vision systems, applying correct force with force torque sensors, etc. Instead of using both the language of the robot and third-party programs to create more advanced programs, it is preferable to have one system that can fully control the robot. Such systems exist, e.g., Robot Operating System (ROS), Yet Another Robot Language (YARP), etc. These systems require more time to fully set up, but once they are set up supposedly they can be used for a lot of different applications and can be used on several industrial robots from different manufacturers. Currently, University of Skövde have robots from Universal Robots (UR) with several peripheral equipment which has limited control because the built-in language does not support it. Therefore, they need help with both investigating which robot system could be used and implementing that robot system. This thesis will prove the suitability of using ROS to control aforesaid hardware, fulfilling all the requirements. It will be also demonstrated the feasibility of ROS in the long-term, according to the future plans for this equipment in University of Skövde.
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Lukac, Dusko. "Realisierung eines ferngesteuerten autonomen mobilen Roboters : Entwurf eines Ausbildungskonzeptes für Robotik /." Hamburg : Diplomica-Verl, 2008. http://d-nb.info/988912058/04.
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Hennig, Matthias, and Klaus Janschek. "Aktionsprimitiv-basierte Steuerungsarchitektur für Anwendungen in der Robotik und Fertigungstechnik." Saechsische Landesbibliothek- Staats- und Universitaetsbibliothek Dresden, 2012. http://nbn-resolving.de/urn:nbn:de:bsz:14-qucosa-83673.
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Der vorliegende Beitrag stellt einen Entwurf für eine flexible und robuste Steuerungsarchitektur für Roboter- und Fertigungssysteme vor. Dabei wurde versucht ein offenes Konzept zu realisieren, welches einen vereinfachten Engineeringprozess ermöglicht. Hierzu wird innerhalb der Steuerung eine Trennung zwischen einem funktionellen verhaltensbasierten und einem ablauforientierten Modell vorgeschlagen. Dieser Ansatz wird durch die Verwendung von Aktionsprimitiven innerhalb einer hybriden Robotersteuerung ermöglicht. Diese garantieren durch ihre ausgeprägte Modularität eine hohe Flexibilität und Erweiterbarkeit des entstandenen Systems. Im Beitrag wird sowohl der entstandene Entwurf diskutiert als auch eine prototypische objektorientierte Implementierung vorgestellt sowie erste Ergebnisse präsentiert<br>This paper presents a framework for a flexible and robust control architecture for robotic systems. The design incorporates an application independent system concept which allows a simplified engineering process. For this purpose a distinction between a functional behavioural and a sequential control system model is proposed. This approach is based on the utilisation of action primitives within a hybrid control architecture. The use of these primitives affords a high level of modularity through increasing flexibility and expandability of the resulting system. In this paper the proposed framework will be discussed as well as a prototypical object-oriented implementation and first results
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Lukac, Dusko. "Realisierung eines ferngesteuerten autonomen mobilen Roboters Entwurf eines Ausbildungskonzeptes für Robotik." Hamburg Diplomica-Verl, 2001. http://d-nb.info/988912058/04.
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Mayer, Gerd. "Visuelle Objekterkennung in dynamischen Umgebungen." [S.l. : s.n.], 2007. http://nbn-resolving.de/urn:nbn:de:bsz:289-vts-59528.
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Hübner, Kai. "Symmetriesignaturen für bildbasierte Anwendungen in der Robotik." Berlin Logos-Verl, 2007. http://deposit.d-nb.de/cgi-bin/dokserv?id=2900826&prov=M&dok_var=1&dok_ext=htm.
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Malgerud, Fredrik, Jimmy Selling, and Adam Claesson. "Haptik/Robotik : utveckling av en haptisk enhet." Thesis, KTH, Maskinkonstruktion (Inst.), 2008. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-171974.
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The objective of this project was to find and analyse the working-area, mobility, and required torque for the actuator of two different haptic robot models. The models were built in the computer program Adams. Adams was used to do all the tests and analysis. To describe the working-area a varying force were imposed that dragged the robots TCP (Tool Centre Point). This showed that Tau model 2 had a somewhat longer reach than model 1 but that model 1 had a larger working-area in the vertical level. To investigate the mobility of the robots, a cube formed space in the working-area was defined where the robots should have maximum mobility. The TCP were positioned in each of the eight corners of the cube and forced to rotate in all three axis until stopped by a lockup. The conclusion was that the TCP were able to rotate more when positioned further away from the middle. The third analysis performed studied the torques needed in the actuator to keep the TCP from moving when exposed to different kinds of forces and torques. The results states that the motors needs more power when working close to the base.<br>Projektet går ut på att ta fram och analysera arbetsområde, rörlighet och moment i styrande leder för två olika haptiska robotmodeller. Modellerna byggdes upp i datorprogrammet Adams för att kunna göra nödvändiga analyser. För att beskriva arbetsområdet ansattes en varierande kraft som drog i robotens TCP (Tool Centre Point). Det visade sig att Tau modell 2 hade något längre räckvidd, men att Tau modell 1 hade större arbetsområde i vertikalled. För att undersöka rörligheten hos robotarna togs det först fram en kubformad avgränsning i arbetsområdet där roboten bör ha bäst rörlighet. Sedan placerades robotens armar i vart och ett av kubens hörn och tvingades rotera kring samtliga tre axlar tills en låsning uppkom. Här visade det sig att båda robotarna hade större möjlighet att rotera TCP när armarna var långt utifrån roboten än när den höll armarna nära. Den tredje analysen som gjordes var av de moment som uppkom i de styrande lederna när TCP påverkades av en kraft respektive ett vridande moment. Från denna analys drogs slutsatsen att båda robotarna belastas mycket mer när de jobbar nära inpå mittornet.
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Bix, Johannes [Verfasser], and Alexander [Akademischer Betreuer] Verl. "Mobile Robotik in der bandsynchronen Montage zur flexiblen Mensch-Roboter-Interaktion / Johannes Bix ; Betreuer: Alexander Verl." Stuttgart : Universitätsbibliothek der Universität Stuttgart, 2019. http://d-nb.info/1191182797/34.
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Jans, Luzia. "Entwicklung eines modularen mobilen Roboters." [S.l. : s.n.], 2005. http://nbn-resolving.de/urn:nbn:de:bsz:747-opus-228.
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Bischof, Andreas. "Wie kommt die Robotik zum Sozialen? Epistemische Praktiken der Sozialrobotik." Doctoral thesis, Universitätsbibliothek Chemnitz, 2017. http://nbn-resolving.de/urn:nbn:de:bsz:ch1-qucosa-219772.
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In zahlreichen Forschungsprojekten wird unter Einsatz großer finanzieller und personeller Ressourcen daran gearbeitet, dass Roboter die Fabrikhallen verlassen und Teil von Alltagswelten wie Krankenhäusern, Kindergärten und Privatwohnungen werden. Die Konstrukteurinnen und Konstrukteure stehen dabei vor einer nicht-trivialen Herausforderung: Sie müssen die Ambivalenzen und Kontingenzen alltäglicher Interaktion in die diskrete Sprache der Maschinen übersetzen. Wie sie dieser Herausforderung begegnen, welche Muster und Lösungen sie heranziehen und welche Implikationen für die Verwendung von Sozialrobotern dabei gelegt werden, ist der Gegenstand des Buches. Auf der Suche nach der Antwort, was Roboter sozial macht, hat Andreas Bischof Forschungslabore und Konferenzen in Europa und Nordamerika besucht und ethnografisch erforscht. Zu den wesentlichen Ergebnissen dieser Studie gehört die Typologisierung von Forschungszielen in der Sozialrobotik, eine epistemische Genealogie der Idee des Roboters in Alltagswelten, die Rekonstruktion der Bezüge zu 'echten' Alltagswelten in der
Sozialrobotik-Entwicklung und die Analyse dreier Gattungen epistemischer Praktiken, derer sich die Ingenieurinnen und Ingenieure bedienen, um Roboter sozial zu machen.
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Appelstål, Michael, Jonatan Michalak, and Melker Österberg. "Easy to Use Graphical User Interface for Robot Programming." Thesis, Uppsala universitet, Institutionen för informationsteknologi, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-357345.
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The field of robotics is growing rapidly due to the demand of robotic labor, but it is still relatively complicated for someone unexperienced to program a robot. In this project we have developed a web-based graphical user interface and scripting language for programming robot arms. The goal was to make the user interface so easy to use that people with no previous experience can use it to program the robots. The finished product is a web-based drag and drop application which generates robot control code in FeatherScript, a scripting language built by us for this project. The graphical user interface satisfies all technical requirements and from a survey on user experience we can conclude that the GUI is easy to use.<br>Robotindustrin växer fort tillsammans med efterfrågan på robotar, men de är idag fortfarande relativt komplicerade att programmera för någon utan tidigare erfarenhet av robotar och/eller programmering. Vi har utvecklat ett webbaserat grafiskt användargränssnitt och skriptspråk för programmering av robotarmar. Målet var att göra användargränssnittet så pass lättanvänt att personer utan tidigare erfarenhet kan använda det för att programmera robotar. Vår slutprodukt är en webbaserad drag-and-drop-applikation som generar robotkod i FeatherScript, ett skriptspråk byggt av oss under detta projekt. Det grafiska användargränssnittet uppfyller alla tekniska krav och genom att utföra en enkät om användarbarhet så kan vi även konstatera att gränssnittet är enkelt att använda.
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Steiger, Alexander [Verfasser]. "Interaktive Projektionsbasierte Erweiterte Realität in der Robotik / Alexander Steiger." München : Verlag Dr. Hut, 2011. http://d-nb.info/1016531559/34.
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Sawczuk, Michal Gabriel. "Design and control of a 3D printed, 6DoF robot arm." Thesis, KTH, Mekatronik, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-295797.
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The purpose of this thesis was to design, construct and control a robotic arm with six degrees of freedom. The arm should be able to do simple tasks such as pick and place with good accuracy and without using external sensors. This thesis investigates the precision and the strength of the constructed robot arm. The arm was constructed using 3D printed parts and commonly available hardware such as threaded rods, bearings, screws and nuts. Each axis uses a combination of pulleys and belts in order to achieve desired torque. A differential transmission was implemented in four of the axes in order to combine the power of the motors and reduce weight in the upper parts of the arm. The robot is driven by six stepper motors that are controlled by a combination of RAMPS 1.4 shield and Arduino Mega 2560 microcontroller. The user can manipulate each axis by sending commands to the Arduino through an USB cable. The commands are generated with the help of a simple user interface written in Python. Experiments have shown that the arm has an average error increase of 0.0289-0.1356 mm for each movement, depending on the chosen speed. The maximum amount ofweight that the arm can hold in the worst case scenario is 0.84 kg.<br>Syftet med denna avhandling var att designa, konstruera och kontrollera en robotarm med sex frihetsgrader. Armen ska kunna utföra enkla uppgifter som pick-and-place med god noggrannhet och utan användning av externa sensorer. Denna avhandling underosöker precisionen och styrkan hos den konstruerade robotarmen. Armen konstruerades med 3D-printade delar och läattillgänglig hårdvara som gängstänger, lager, skruvar och muttrar. Varje axel använder en kombination av kuggremskivor och kuggremmar för att uppnå önskat moment. En differentialväxel användes i fyra av axlarna för att kombinera motorernas moment och minska vikten i armens övre delar. Roboten drivs av sex stegmotorer som styrs av en kombinationav RAMPS 1.4-shield och Arduino Mega 2560 mikrokontroller. Användaren kan styra varje axel genom att skicka kommandon till Arduinon via en USB-kabel. Kommandona genereras med hjälp av ett enkelt användargränssnitt skrivet i Python. Experiment har visat att armen har en genomsnittlig felökning på 0,0289-0,1356 mm för varje rörelse, beroende på vald hastighet. Den högsta vikt som armen i värsta fallkan håalla är 0,84 kg.
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Neubert, Peer, Stefan Schubert, and Peter Protzel. "Learning Vector Symbolic Architectures for Reactive Robot Behaviours." Universitätsbibliothek Chemnitz, 2017. http://nbn-resolving.de/urn:nbn:de:bsz:ch1-qucosa-217042.
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Vector Symbolic Architectures (VSA) combine a hypervector space and a set of operations on these vectors. Hypervectors provide powerful and noise-robust representations and VSAs are associated with promising theoretical properties for approaching high-level cognitive tasks. However, a major drawback of VSAs is the lack of opportunities to learn them from training data. Their power is merely an effect of good (and elaborate) design rather than learning. We exploit high-level knowledge about the structure of reactive robot problems to learn a VSA based on training data. We demonstrate preliminary results on a simple navigation task. Given a successful demonstration of a navigation run by pairs of sensor input and actuator output, the system learns a single hypervector that encodes this reactive behaviour. When executing (and combining) such VSA-based behaviours, the advantages of hypervectors (i.e. the representational power and robustness to noise) are preserved. Moreover, a particular beauty of this approach is that it can learn encodings for behaviours that have exactly the same form (a hypervector) no matter how complex the sensor input or the behaviours are.
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Chen, Rui. "Tillämpad robotik och parallellkinematikUtveckling och modellering av en Stewart-Goughplattform." Thesis, KTH, Maskinkonstruktion (Inst.), 2010. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-49756.
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I detta examensarbete har ett problem som varit en del av ett pågående projekt på ElektaInstrument AB undersökts och en lösning har föreslagits.Problemet har varit att utveckla och modellera en servoenhet som med hög precision kanpositionera ett instrument i fem dimensioner (tre translaterande och två roterande) och som kanhålla instrumentet på sin position med hög styvhet.Problemet löstes genom att först specificera kraven på servoenheten, sedan undersöktes olikabefintliga koncept för att uppnå kraven. Det bästa konceptet, en Stewart-Gough plattform, valdesoch studerades och analyserades sedan i detalj.Analysen gjordes i två steg, det första steget var att göra beräkningar av krafter och benlängdersom en funktion av positionen för en Stewart-Gough plattform. Det andra steget var att realiseraberäkningarna och implementera dessa i kod och hårdvara för att styra fysiska motorer och fådem att bete sig som önskat enligt beräkningarna.Resultatet av första delen av analysen är ett MATLAB program som kan beräknainverskinematiken och benkrafterna för en godtycklig Stewart-Gough plattform som belastasmed en godtycklig kraftvektor och en godtycklig momentvektor. Programmet kan även itereraberäkningarna för olika lägen för Stewart-Gough plattformen och för olika belastningar ochskriva ut extremvärdena som beräknats.Den andra delen av analysen resulterade i ett LabView program för simultan styrning av sexmotorer och hårdvara för att driva sex motorer. Styrningen har testats på befintliga motorer medlyckat resultat.Resultaten av examensarbetet visar att Stewart-Gough plattformen kan uppfylla kraven som ärställda på servoenheten. Under examensarbetet har alla nödvändiga beräkningar för att kunnastyra en Stewart-Gough plattform gjorts och hårdvaran för styrning av motorer har utvecklats.Parallellt med examensarbetet har ingenjörer på Elekta Instrument AB utvecklat mekaniken tillStewart-Gough plattformen, när examensarbetet avslutas är steget till en första prototyp mycketlitet.<br>In this Master of Science thesis a problem that has been a part of an ongoing project at ElektaInstrument has been examined and a solution has been suggested.The problem has been to develop a servo unit that is able to position an instrument in fivedegrees of freedom (three translational and two rotational) with high precision and that is able tohold that instrument in its position with high stiffness.The problems were solved by specifying the requirements of the servo unit and compare themwith existing concepts. The concepts were evaluated and the best concept, the Stewart-Goughplatform, was chosen and was thoroughly studied and analyzed.The analysis was conducted in two steps, the first step was to calculate the forces and the leglengths as a function of a position for a Stewart-Gough platform. The second step was to realizethe calculations and implement them in code and hardware to control physical motors and makethem behave as desired according to the calculations.The result of the first step was a MATLAB program that can calculate the inverse kinematicsand leg forces for any Stewart-Gough platform that is subjected to any force and momentumvector. The program can also iterate the calculations for a number of positions and loads for theplatform and display relevant extreme values.The result of the second step is a LabView program for simultaneous control of six motors andhardware that is able to control and drive the motors. The control system has successfully beentested on existing motors.The result of the thesis shows that the Stewart-Gough platform is a feasible solution that willmeet the specified requirements on the servo unit. During the thesis project all necessarycalculations for control of a Stewart-Gough platform has been made and the hardware needed tocontrol it has been developed. A mechanical solution has been developed simultaneously duringthe thesis project by engineers at Elekta Instrument AB and when the thesis project is complete afirst prototype of the Stewart-Gough servo unit is not far away.
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Schindele, Dominik [Verfasser]. "Einsatz pneumatischer Muskeln als Aktoren in der Robotik / Dominik Schindele." Aachen : Shaker, 2013. http://d-nb.info/1051575125/34.
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Berntsson, Mathias, Krook Gustaf Vernersson, and Karl-Johan Thunberg. "Automationsunderlag för stackningsmoment av kärnläggning." Thesis, Uppsala universitet, Elektricitetslära, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-414143.
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Efterfrågan av energi ökar på grund av den ökande globaliseringen i världen. För att transmittera och distribuera elektrisk effekt används transformatorer. ABB Power Grids AB är världsledande inom produktion av transmissionskomponenter däribland högspänningstransformatorer. Transformatorer är tidskrävande och komplext att tillverka vilket har lett till att all produktion hos ABB Power Grids idag sker manuellt. En av transformatorns mer framstående komponenter är kärnan som bidrar med en effektivare reglering till mindre förluster. Kärnan konstrueras av tusentals tunna elektroplåtar som staplas omlott på varandra och vävs ihop till en sammanhängande struktur, detta enligt ett kärnläggningsmönster. Plåtarna i sig är otympliga att hantera då de är långa, tunna och vassa. Manuell stackning av elektroplåtar har visat sig ge upphov till en del skador då lyften är många och slitsamma, därtill har plåtarna legat till grund för otäcka skärskador. I och med detta har ett intresse för automation väckts i hopp om att reducera arbetsskador. Vid första anblick kan kärnläggningen anses vara perfekt för automation då arbetsmomentet är enkelt och repetitiva. Incitamentet för automation ökar ytterligare i hänseende till arbetsmiljön. Komplikationerna uppstår när arbetet bryts ner. Under ytan är det en utstuderad process där krav på produkt är höga med strikta toleranser. Därtill har arbetet beskrivits som något man behöver en viss känsla för då arbetet anpassas genom hela processen. Detta försvårar automation betydligt då dagens tillverkningsprocess är svår att fullt ut härma med robotar eller portaler. Därför behövs avgränsningar behöver göras för att hitta avvägning mellan slitsamt arbete och finess. Området för automation begränsas därför till stackningsprocessen. Genom att fokusera på stackningen flyttas de slitsamma och farliga lyften från manuell arbetskraft till automation samtidigt som kontroll, justering och slutmontage behålls manuellt. På så sätt kan produktionen av transformatorkärnor göras lämpad för automation då det allra mest tidskrävande momenten inte behöver utföras av människan. Detta är innebär emellertid inte att automation görs utan svårigheter. Kärnornas storlekar samt den precision som krävs vid läggning sätter höga krav på den automationslösning som ska implementeras. För att en automationslösning ska klara av att stacka alla de typer av kärnor som idag tillverkas på ABB Power Grids kommer stora strukturer behöva upprättas för att utföra arbeten med extrem precision. Detta sätter höga noggrannhetskrav på de automationsmodeller som upprättas. Vidare, produktionsområdet där automation idag avses är väl utstakat och anpassat efter manuellt arbete. Detta innebär att automationsmodeller som idag finns på marknaden behöver omarbetas för att passa in i dagens produktion hos ABB Power Grids. Slutligen måste frågan ställas om modifierade lösningar kan göras noggranna nog eller om större ingrepp på produktionsområden behövs göras. I förstudien presenteras olika automationsmodeller som har utvecklats för att integreras hos ABB Power Grids, dessa är Portalmodeller, Länkarmsmodeller och Inmatningsmodeller. Utformningsförslagen har sedan analyserats och jämförts för att ge ABB PG ett utgångsläge för vidareutveckling av automatisering av stackningsmomentet. Resultatet blev fem automationsmodeller, två använder sig av länkarmsrobotar och tre är portaler. Vidare så har två automatiserade inmatningsmodeller upprättats för att ytterligare reducera den manuella hanteringen av elektroplåtar. ABB Power Grids rekommenderas att inledningsvis gå vidare med Robotmodell 1.
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Roun, Jiří. "Digitální zprovoznění robotizovaného výrobního systému pro obsluhu obráběcího stroje." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2021. http://www.nusl.cz/ntk/nusl-443731.
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This master‘s thesis is about the digital commissioning of a robotic production system for a machine tool tending. The initial research describes the current state of the art in the field of industrial robotics. Their types and possibilities are followed by the types and SW capabilities for digital commissioning. The system analysis of the robotic work cell. The practical part of this thesis describes the creation of the digital model and SW design. At the end of the thesis is performed virtual testing of the robotic system.
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Hennig, Matthias. "Engineering-orientierte Steuerungsarchitektur auf der Basis von Aktionsprimitiven für Anwendungen in der Robotik." Doctoral thesis, Saechsische Landesbibliothek- Staats- und Universitaetsbibliothek Dresden, 2012. http://nbn-resolving.de/urn:nbn:de:bsz:14-qucosa-99326.
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In der vorliegenden Arbeit wird die flexible Steuerungsarchitektur Apeca für Systeme der Robotik sowie der robotergestützten Fertigungstechnik vorgestellt. Dafür werden verschiedene Anforderungen identifiziert und innerhalb eines Entwurfs vereint. Ein Hauptaugenmerk des dabei entstandenen Konzeptes ist es, einen vereinfachten Engineeringprozess für den Steuerungsentwurf zu ermöglichen. Dieser Ansatz wird durch die Verwendung von Aktionsprimitiven ermöglicht, die in Form atomarer Systemverhalten in einer speziellen Modulhierarchie eingesetzt werden. Hierzu erfolgt innerhalb der Steuerungsarchitektur eine Trennung zwischen einem funktionsorientierten verhaltensbasierten Modell zur hierarchischen sowie funktionell parallelen Ausführung von Aktionsprimitiven und einem ablauforientierten Modell zur aufgabenabhängigen Aktivierung derselben. Mit Hilfe eines Nutzerkonzepts werden diese Modelle verschiedenen Anwendern zugeordnet. Die objektorientierte Realisierung dieses Entwurfs ermöglicht die Verwendung und Synchronisation von mehreren Teilsystemen innerhalb einer Steuerung. In der Arbeit wird sowohl der entstandene Entwurf diskutiert als auch eine prototypische Implementierung vorgestellt. Abschließend werden die Ergebnisse anhand verschiedener Demonstrationsszenarien präsentiert<br>In this present work, the Apeca framework, a flexible control architecture for robotic systems, is introduced. The conceptual design combines different requirements identified in miscellaneous robotic control approaches. The main focus of the resulting concept is on a simplified engineering process for the controller design. This approach is supported by the use of atomic system behaviors, the so called action primitives, in a special module hierarchy. For this purpose a distinction between a functional behavior based system model with hierarchically and also parallelly executed action primitives and a sequential control system model with a task-dependent activation of the primitives is proposed. These models are assigned to different users through a distinct user concept. An object-oriented implementation of the proposed architecture allows the utilization and synchronisation of multiple (sub-)systems within one framework. In this work the proposed framework will be discussed, a prototypical implementation will be presented and results based on different experimental scenarios will be shown
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Hildenbrand, Dietmar. "Geometric computing in computer graphics and robotics using conformal geometric algebra." Phd thesis, [S.l.] : [s.n.], 2007. http://elib.tu-darmstadt.de/diss/000764.
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Wissnet, Alexander. "Roboter in Japan : Ursachen und Hintergründe eines Phänomens /." München Iudicium, 2007. http://deposit.d-nb.de/cgi-bin/dokserv?id=3015711&prov=M&dok_var=1&dok_ext=htm.
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Hennig, Matthias, Henri Kirmse, and Klaus Janschek. "Global Localization of an Indoor Mobile Robot with a single Base Station." Saechsische Landesbibliothek- Staats- und Universitaetsbibliothek Dresden, 2012. http://nbn-resolving.de/urn:nbn:de:bsz:14-qucosa-83687.
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The navigation tasks in advanced home robotic applications incorporating reliable revisiting strategies are dependent on very low cost but nevertheless rather accurate localization systems. In this paper a localization system based on the principle of trilateration is described. The proposed system uses only a single small base station, but achieves accuracies comparable to systems using spread beacons and it performs sufficiently for map building. Thus it is a standalone system and needs no odometry or other auxiliary sensors. Furthermore a new approach for the problem of the reliably detection of areas without direct line of sight is presented. The described system is very low cost and it is designed for use in indoor service robotics. The paper gives an overview on the system concept and special design solutions and proves the possible performances with experimental results.
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Höing, Christian [Verfasser]. "Entwicklung einer Robotik-Lösung zur Schneckenbekämpfung in der Landwirtschaft / Christian Höing." Kassel : Universitätsbibliothek Kassel, 2020. http://d-nb.info/123140793X/34.
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WALLÉN, KIESSLING ALEXANDER, and NICLAS MÄÄTTÄ. "Anthropomorphic Robot Arm." Thesis, KTH, Skolan för industriell teknik och management (ITM), 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-279804.
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Robot manipulators are commonly used in today's industrial applications. In this report a 3D-printed anthropomorphic robot arm with three degrees of freedom was constructed. The robot arm operates with the use of a microcontroller and servomotors. Through utilizing the Denavit-Hartenberg method and inverse kinematics the robot’s end effector is able to reach a specified point in space. This report has found that the accuracy of the constructed robotic manipulator reaching a specific coordinate depends on the distance of the end effector from its base. The relative error of the constructed robot’s positioning falls within 1.3- 6.9%, with a 99% confidence.<br>Robotmanipulatorer är idag vanligt förekommande i industriella applikationer. I denna rapport konstrueras en 3D-printad antropomorf robotarm med tre frihetsgrader. Robotarmen styrs med hjälp av en mikrokontroller och servomotorer. Baserat på DenavitHartenberg metoden och inverskinematik kan robotens ändpunkt ta sig till en specificerad punkt i rummet. Vidare har rapporten funnit att den konstruerade robotens exakthet beror på avståndet emellan robotens manipulator och dess bas. Det relativa felet av robotens positionering ligger inom intervallet 1.3-6.9% med en 99% konfidens.
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Blume, Holger. "Wahrscheinlichkeitsbasierte Methoden zur autonomen Führung von Fahrzeugen in unsicherer Umgebung /." Düsseldorf : VDI-Verl, 2008. http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&doc_number=017102457&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA.
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Václavek, Miroslav. "Řízení 6-ti osého robota v RTOS." Master's thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2009. http://www.nusl.cz/ntk/nusl-217874.
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The thesis deals with the analysis, software design and the study of 3D kinematic model of robotic manipulator ROB 2-6. It creates the control software for this manipulator, containing user interface based on MFC applications. Moreover, the thesis is concentrated on the solution of various problems, e.g. non-linearity of servomotor or the limitation of manipulator´s attainability. Finally, it poses a documentation of the single project and offers new possibilities of further development in the control of this manipulator.
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Le-Tien, Luc. "Ansätze zur entkoppelten Regelung von mechanisch gekoppelten Doppelgelenken eines DLR-Medizinroboters." Doctoral thesis, Saechsische Landesbibliothek- Staats- und Universitaetsbibliothek Dresden, 2010. http://nbn-resolving.de/urn:nbn:de:bsz:14-qucosa-39460.
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In dieser Arbeit werden die Methoden zur Modellierung, Identifikation, Regelung und Reibungskompensation von DLR-Medizinrobotern mit elastischen und differentiell getriebenen Gelenken vorgestellt. In der Praxis zeigt sich, dass bei den DLR-Medizinrobotern sowohl die Gelenkelastizität als auch die Gelenkverkopplung innerhalb des Doppelgelenks in der Modellierung und Regelung berücksichtigt werden muss. Daher ist es das Hauptziel dieser Arbeit, eine Regelungsstruktur zu entwickeln, die das gewünschte Folge- und Einschwingverhalten erreicht. Zur Regelung wird mit Hilfe der modalen Entkopplung ein MIMO – Zustandsregler für die Doppelgelenkstruktur eingeführt, der auf der Rückführung der antriebsseitigen Positionen und abtriebsseitigen Drehmomente sowie deren Ableitungen basiert. Für die medizinischen Anwendungen spielt die Positionsgenauigkeit, die durch die hohe Reibung stark beeinflusst wird, eine entscheidende Rolle. Um die Positioniergenauigkeit des Roboters zu verbessern, wird ein Reibungsbeobachter entwickelt, der eine passive Reibungskompensation ermöglicht. Da der Reibungsbeobachter nur den Momentenfehler, nicht aber den Positionsfehler integriert, wird diese Kompensation außer zur Positionsregelung auch zur Verbesserung der Qualität der Drehmoment- und Impedanzregelung eingesetzt. Für die gesamte Regelungsstruktur aus Zustandsregler und Reibungsbeobachter wird global asymptotische Stabilität des gesamten nichtlinearen Roboters nachgewiesen. Diese Regelungsstruktur wird derzeit in zahlreichen Anwendungen mit den DLR-Medizinrobotern benutzt und validiert.
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Labbé, Anton, and Benjamin Ström. "Construction of a Selective Compliance Articulated Robot Arm : And evaluation of its accuracy." Thesis, KTH, Mekatronik, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-296163.
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The concept of a robotic manipulator is widely used throughout many industries. In this project, a manipulator of the type SCARA, selective compliance articulated robot arm, is constructed. The aim was to examine how such a robot could be constructed using 3D-printing and how accurate it would be. Other than 3D-printing, parts in the form of guiding rods, lead screw, bearings, pulleys and timing belts were used. Together with a microcontroller, the robot operates using three stepper motors. In the end it resulted in a SCARA with reasonable accuracy considering the methods used, more specifically the largest average error was 3.6cm in the X direction and 2.3 cm in the Y direction. The largest drawback of the final construction was the negative balance between tightening the belts and friction in the inner joint. Tightening the belts meant larger friction and thereby undesired movement properties. Doing the opposite meant that the belts could start slipping and enabled backlash.<br>Konceptet av en robotarm används brett inom många industrier. Detta projekt syftar till att konstruera en robot avtypen SCARA, selective compliance articulated robot arm. Målet var att undersöka hur en sådan robot kan 3D-printas och dess precision. Förutom 3D-printade delar användes även guidestänger, kullager, kamremmar och remskivor. Robotens rörelser styrs tillsammans med en mikrokontroller och tre stegmotorer. Med tillvägagångssätten i åtanke resulterade projektet in en SCARA med rimlig precision. Mer specifikt var medelfelet 3.6 cm i X-led och 2.3 cm i Y-led. Den största nackdelen med den slutgiltiga konstruktionenvar den negativa jämvikten mellan att spänna kamremmarna och friktionen i den inre armleden. Att spänna kamremmarna innebar en ökning i friktion och därmed oönskade rörelseegenskaper. Att göra tvärtom innebar att bältena löpte större risk att glida ur och möjliggjorde dödgång.
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Ehrmann, Markus. "Beitrag zur Effizienzsteigerung bei der Programmierung flexibler, roboterbasierter Montagezellen : Konzeption und Realisierung eines nutzergerechten Programmiersystems." Kaiserslautern Universität Kaiserslautern, 2007. http://bvbr.bib-bvb.de:8991/F?func=service&docl̲ibrary=BVB01&docn̲umber=015669605&linen̲umber=0001&funcc̲ode=DBR̲ECORDS&servicet̲ype=MEDIA.
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Esteban, Ignacio. "Anforderungsgerechte Optimierung von Hexapod-Strukturen für Werkzeugmaschinen mit Hilfe genetischer Algorithmen /." Esslingen : Eigenverl, 2007. http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&doc_number=016370554&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA.
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Ekström, Johan. "Obstacle avoidance for platforms in three-dimensional environments." Thesis, KTH, Skolan för datavetenskap och kommunikation (CSC), 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-189320.
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The field of obstacle avoidance is a well-researched area. Despite this, research on obstacle avoidance in three dimensions is surprisingly sparse. For platforms which are able to navigate three-dimensional space, such as multirotor UAVs, such methods will become more common. In this thesis, an obstacle avoidance method, intended for a three-dimensional environment, is presented. First the method reduces the dimensionality of the three-dimensional world into two dimensions by projecting obstacle observations onto a two-dimensional spherical depth map, retaining information on direction and distance to obstacles. Next, the method accounts for the dimensions of the platform by applying a post-processing on the depth map. Finally, knowing the motion model, a look-ahead verification step is taken, using information from the depth map, to ensure that the platform does not collide with any obstacles by not allowing control inputs which leads to collisions. If there are multiple control input candidates after verification that lead to velocity vectors close to a desired velocity vector, a heuristic cost function is used to select one single control input, where the similarity in direction and magnitude of the resulting and desired velocity vector is valued. Evaluation of the method reveals that platforms are able to maintain distances to obstacles. However, more work is suggested in order to improve the reliability of the method and to perform a real world evaluation.<br>Fältet inom kollisionsundvikande är ett välforskat område. Trots detta så är forskning inom kollisionsundvikande metoder i tre dimensioner förvånansvärt magert. För plattformar som kan navigera det tredimensionella rummet, såsom multirotor-baserade drönare kommer sådana metoder att bli mer vanliga. I denna tes presenteras en kollisionsundvikande metod, menad för det tredimensionella rummet. Först reduceras dimensionaliteten av det tredimensionella rummet genom att projicera hinderobservationer på ett tvådimensionellt sfärisk ark i form av en djupkarta som bibehåller information om riktning och avstånd till hinder. Därefter beaktas plattformens dimensioner genom att tillämpa ett efterbehandlingssteg på djupkartan. Till sist, med kunskap om rörelsemodellen, ett verifieringssteg där information från djupkartan används för att försäkra sig om att plattformen inte kolliderar med några hinder genom att inte tillåta kontrollinmatningar som leder till kollisioner. Om det finns flera kontrollinmatningskandidater efter verifikationssteget som leder till hastighetsvektorer nära en önskad hastighetsvektor så används en heuristisk kostnadsfunktion, där likheten i riktning och magnitud av den resulterande vektorn och önskade hastighetsvektorn värderas, för att välja en av dem. Utvärdering av metoden visar att plattformar kan bibehålla avstånd till hinder. Dock föreslås ytterligare arbete för att förbättra tillförlitligheten av metoden samt att utvärdera metoden i den verkliga världen.
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Öfjäll, Kristoffer. "Online Learning for Robot Vision." Licentiate thesis, Linköpings universitet, Datorseende, 2014. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-110892.
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In tele-operated robotics applications, the primary information channel from the robot to its human operator is a video stream. For autonomous robotic systems however, a much larger selection of sensors is employed, although the most relevant information for the operation of the robot is still available in a single video stream. The issue lies in autonomously interpreting the visual data and extracting the relevant information, something humans and animals perform strikingly well. On the other hand, humans have great diculty expressing what they are actually looking for on a low level, suitable for direct implementation on a machine. For instance objects tend to be already detected when the visual information reaches the conscious mind, with almost no clues remaining regarding how the object was identied in the rst place. This became apparent already when Seymour Papert gathered a group of summer workers to solve the computer vision problem 48 years ago [35]. Articial learning systems can overcome this gap between the level of human visual reasoning and low-level machine vision processing. If a human teacher can provide examples of what to be extracted and if the learning system is able to extract the gist of these examples, the gap is bridged. There are however some special demands on a learning system for it to perform successfully in a visual context. First, low level visual input is often of high dimensionality such that the learning system needs to handle large inputs. Second, visual information is often ambiguous such that the learning system needs to be able to handle multi modal outputs, i.e. multiple hypotheses. Typically, the relations to be learned are non-linear and there is an advantage if data can be processed at video rate, even after presenting many examples to the learning system. In general, there seems to be a lack of such methods. This thesis presents systems for learning perception-action mappings for robotic systems with visual input. A range of problems are discussed, such as vision based autonomous driving, inverse kinematics of a robotic manipulator and controlling a dynamical system. Operational systems demonstrating solutions to these problems are presented. Two dierent approaches for providing training data are explored, learning from demonstration (supervised learning) and explorative learning (self-supervised learning). A novel learning method fullling the stated demands is presented. The method, qHebb, is based on associative Hebbian learning on data in channel representation. Properties of the method are demonstrated on a vision-based autonomously driving vehicle, where the system learns to directly map low-level image features to control signals. After an initial training period, the system seamlessly continues autonomously. In a quantitative evaluation, the proposed online learning method performed comparably with state of the art batch learning methods.
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Grelsson, Bertil. "Global Pose Estimation from Aerial Images : Registration with Elevation Models." Licentiate thesis, Linköpings universitet, Datorseende, 2014. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-108213.
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Over the last decade, the use of unmanned aerial vehicles (UAVs) has increased drastically. Originally, the use of these aircraft was mainly military, but today many civil applications have emerged. UAVs are frequently the preferred choice for surveillance missions in disaster areas, after earthquakes or hurricanes, and in hazardous environments, e.g. for detection of nuclear radiation. The UAVs employed in these missions are often relatively small in size which implies payload restrictions. For navigation of the UAVs, continuous global pose (position and attitude) estimation is mandatory. Cameras can be fabricated both small in size and light in weight. This makes vision-based methods well suited for pose estimation onboard these vehicles. It is obvious that no single method can be used for pose estimation in all dierent phases throughout a ight. The image content will be very dierent on the runway, during ascent, during ight at low or high altitude, above urban or rural areas, etc. In total, a multitude of pose estimation methods is required to handle all these situations. Over the years, a large number of vision-based pose estimation methods for aerial images have been developed. But there are still open research areas within this eld, e.g. the use of omnidirectional images for pose estimation is relatively unexplored. The contributions of this thesis are three vision-based methods for global egopositioning and/or attitude estimation from aerial images. The rst method for full 6DoF (degrees of freedom) pose estimation is based on registration of local height information with a geo-referenced 3D model. A dense local height map is computed using motion stereo. A pose estimate from navigation sensors is used as an initialization. The global pose is inferred from the 3D similarity transform between the local height map and the 3D model. Aligning height information is assumed to be more robust to season variations than feature matching in a single-view based approach. The second contribution is a method for attitude (pitch and roll angle) estimation via horizon detection. It is one of only a few methods in the literature that use an omnidirectional (sheye) camera for horizon detection in aerial images. The method is based on edge detection and a probabilistic Hough voting scheme. In a ight scenario, there is often some knowledge on the probability density for the altitude and the attitude angles. The proposed method allows this prior information to be used to make the attitude estimation more robust. The third contribution is a further development of method two. It is the very rst method presented where the attitude estimates from the detected horizon in omnidirectional images is rened through registration with the geometrically expected horizon from a digital elevation model. It is one of few methods where the ray refraction in the atmosphere is taken into account, which contributes to the highly accurate pose estimates. The attitude errors obtained are about one order of magnitude smaller than for any previous vision-based method for attitude estimation from horizon detection in aerial images.
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Staniaszek, Michal. "Feature-Feature Matching For Object Retrieval in Point Clouds." Thesis, KTH, Datorseende och robotik, CVAP, 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-170475.
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In this project, we implement a system for retrieving instances of objects from point clouds using feature based matching techniques. The target dataset of point clouds consists of approximately 80 full scans of office rooms over a period of one month. The raw clouds are reprocessed to remove regions which are unlikely to contain objects. Using locations determined by one of several possible interest point selection methods, one of a number of descriptors is extracted from the processed clouds. Descriptors from a target cloud are compared to those from a query object using a nearest neighbour approach. The nearest neighbours of each descriptor in the query cloud are used to vote for the position of the object in a 3D grid overlaid on the room cloud. We apply clustering in the voting space and rank the clusters according to the number of votes they contain. The centroid of each of the clusters is used to extract a region from the target cloud which, in the ideal case, corresponds to the query object. We perform an experimental evaluation of the system using various parameter settings in order to investigate factors affecting the usability of the system, and the efficacy of the system in retrieving correct objects. In the best case, we retrieve approximately 50% of the matching objects in the dataset. In the worst case, we retrieve only 10%. We find that the best approach is to use a uniform sampling over the room clouds, and to use a descriptor which factors in both colour and shape information to describe points.
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Mishra, Chintan, and Zeeshan Khan. "Development and Evaluation of a Kinect based Bin-Picking System." Thesis, Mälardalens högskola, Inbyggda system, 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-28031.
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Fridborn, Fredrik. "Reading Barcodes with Neural Networks." Thesis, Linköpings universitet, Datorseende, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-143477.
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Barcodes are ubiquituous in modern society and they have had industrial application for decades. However, for noisy images modern methods can underperform. Poor lighting conditions, occlusions and low resolution can be problematic in decoding. This thesis aims to solve this problem by using neural networks, which have enjoyed great success in many computer vision competitions the last years. We investigate how three different networks perform on data sets with noisy images. The first network is a single classifier, the second network is an ensemble classifier and the third is based on a pre-trained feature extractor. For comparison, we also test two baseline methods that are used in industry today. We generate training data using software and modify it to ensure proper generalization. Testing data is created by photographing barcodes in different settings, creating six image classes - normal, dark, white, rotated, occluded and wrinkled. The proposed single classifier and ensemble classifier outperform the baseline as well as the pre-trained feature extractor by a large margin. The thesis work was performed at SICK IVP, a machine vision company in Linköping in 2017.
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Divak, Martin. "Simulated SAR with GIS data and pose estimation using affine projection." Thesis, Luleå tekniska universitet, Institutionen för system- och rymdteknik, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-66303.
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Pilots or autonomous aircraft need to know where they are in relation to the environment. On board aircraft there are inertial sensors that are prone to drift which requires corrections by referencing against known items, places, or signals. One such method of referencing is with global navigation satellite systems, and others, that are highlighted in this work, are based on using visual sensors. In particular the use of Synthetic Aperture Radar is emerging as a viable alternative. To use radar images in qualitative or quantitative analysis they must be registered with geographical information. Position data on an aircraft or spacecraft is not sufficient to determine with certainty what or where it is one is looking at in a radar image without referencing other images over the same area. It is demonstrated in this thesis that a digital elevation model can be split up and classified into different types of radar scatterers. Different parts of the terrain yielding different types of echoes increases the amount of radar specific characteristics in simulated reference images. This work also presents an interpretation of the imaging geometry of SAR such that existing methods in Computer Vision may be used to estimate the position from which a radar image has been taken. This is a direct image matching without requiring registration that is necessary for other proposals of SAR-based navigation solutions. By determination of position continuously from radar images, aircraft could navigate independently of day light, weather, and satellite data.
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Sjöholm, Daniel. "Calibration using a general homogeneous depth camera model." Thesis, KTH, Skolan för datavetenskap och kommunikation (CSC), 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-204614.
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Being able to accurately measure distances in depth images is important for accurately reconstructing objects. But the measurement of depth is a noisy process and depth sensors could use additional correction even after factory calibration. We regard the pair of depth sensor and image sensor to be one single unit, returning complete 3D information. The 3D information is combined by relying on the more accurate image sensor for everything except the depth measurement. We present a new linear method of correcting depth distortion, using an empirical model based around the constraint of only modifying depth data, while keeping planes planar. The depth distortion model is implemented and tested on the Intel RealSense SR300 camera. The results show that the model is viable and generally decreases depth measurement errors after calibrating, with an average improvement in the 50 percent range on the tested data sets.<br>Att noggrant kunna mäta avstånd i djupbilder är viktigt för att kunna göra bra rekonstruktioner av objekt. Men denna mätprocess är brusig och dagens djupsensorer tjänar på ytterligare korrektion efter fabrikskalibrering. Vi betraktar paret av en djupsensor och en bildsensor som en enda enhet som returnerar komplett 3D information. 3D informationen byggs upp från de två sensorerna genom att lita på den mer precisa bildsensorn för allt förutom djupmätningen. Vi presenterar en ny linjär metod för att korrigera djupdistorsion med hjälp av en empirisk modell, baserad kring att enbart förändra djupdatan medan plana ytor behålls plana. Djupdistortionsmodellen implementerades och testades på kameratypen Intel RealSense SR300. Resultaten visar att modellen fungerar och i regel minskar mätfelet i djupled efter kalibrering, med en genomsnittlig förbättring kring 50 procent för de testade dataseten.
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Strandberg, Mattias. "Portfolio Optimization with NonLinear Instruments." Thesis, Umeå universitet, Institutionen för fysik, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:umu:diva-137233.
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Johansson, Marcus. "Online Whole-Body Control using Hierarchical Quadratic Programming : Implementation and Evaluation of the HiQP Control Framework." Thesis, Linköpings universitet, Artificiell intelligens och integrerade datorsystem, 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-133224.
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The application of local optimal control is a promising paradigm for manipulative robot motion generation.In practice this involves instantaneous formulations of convex optimization problems depending on the current joint configuration of the robot and the environment.To be effective, however, constraints have to be carefully constructed as this kind of motion generation approach has a trade-off of completeness.Local optimal solvers, which are greedy in a temporal sense, have proven to be significantly more effective computationally than classical grid-based or sampling-based planning approaches. In this thesis we investigate how a local optimal control approach, namely the task function approach, can be implemented to grant high usability, extendibility and effectivity.This has resulted in the HiQP control framework, which is compatible with ROS, written in C++.The framework supports geometric primitives to aid in task customization by the user.It is also modular as to what communication system it is being used with, and to what optimization library it uses for finding optimal controls. We have evaluated the software quality of the framework according to common quantitative methods found in the literature.We have also evaluated an approach to perform tasks using minimal jerk motion generation with promising results.The framework also provides simple translation and rotation tasks based on six rudimentary geometric primitives.Also, task definitions for specific joint position setting, and velocity limitations were implemented.
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Bäckström, Nils. "Designing a Lightweight Convolutional Neural Network for Onion and Weed Classification." Thesis, Uppsala universitet, Avdelningen för visuell information och interaktion, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-341526.
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The data set for this project consists of images containing onion and weed samples. It is of interest to investigate if Convolutional Neural Networks can learn to classify the crops correctly as a step in automatizing weed removal in farming. The aim of this project is to solve a classification task involving few classes with relatively few training samples (few hundred per class). Usually, small data sets are prone to overfitting, meaning that the networks generalize bad to unseen data. It is also of interest to solve the problem using small networks with low computational complexity, since inference speed is important and memory often is limited on deployable systems. This work shows how transfer learning, network pruning and quantization can be used to create lightweight networks whose classification accuracy exceeds the same architecture trained from scratch. Using these techniques, a SqueezeNet v1.1 architecture (which is already a relatively small network) can reach 1/10th of the original model size and less than half MAC operations during inference, while still maintaining a higher classification accuracy compared to a SqueezeNet v1.1 trained from scratch (96.9±1.35% vs 92.0±3.11% on 5-fold cross validation)
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Norell, Jakob. "Prototyping an automated robotic shopping cart with visual perception." Thesis, Luleå tekniska universitet, Datavetenskap, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-68013.
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Intelligent atonomous robots are expected to be more common in the future and it is a topic of interest for science and companies. Instead of letting the customer pull a heavy cart by hand, an intelligent robotic shopping cart can aid a customer with their shopping by automatically following them. For this purpose, a prototype of an automated robotic shopping cart was implemented on the robotino 3 system, using tools from the programming environment robotino view created by FESTO. Some tools were used for computer vision to identify a customer bearing a colored symbol. The symbol could be uniquely designed for one individual customer and the identification was not sensitive to external disturbances of light, thanks to two lamps attached to the symbol. Collision avoidance was implemented with IR-sensors using scripts written in LUA based on a version of the bug 2 algorithm. Distance was accurately determined to obstacles and to the customer by using information from these two implementations. The robot successfully followed a human while avoiding obstacles that were in the way. After moving towards the customer, it safely stopped close to the customer – making it possible for the customer to place an object in the shopping cart. The robotino used a comprehendable routine such that the customer and the robotino understood the intention of the other actor.
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Lind, Linus. "Deep learning navigation for UGVs on forests paths." Thesis, KTH, Skolan för elektroteknik och datavetenskap (EECS), 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-224790.
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Artificial intelligence and machine learning have seen great progress in recent years. In this work, we will look at the application of machine learning in visual navigational systems for unmanned vehicles in natural environments. Previous works have focused on navigational systems with deep convolutional neural networks (CNNs) for unmanned aerial vehicles (UAVs). In this work, we evaluate the robustness and applicability of these methods for unmanned ground vehicles (UGVs). To evaluate the robustness and applicability of this machine learning approach for UGV two experiments where performed. In the first, data from Swiss trails and photos collected in Swedish forests where used to train deep CNNs. Several models are trained using data collected in different environments at different heights. By cross evaluating the trained models on the other datasets the impact of changing camera position and switching environment can be evaluated. In the second experiment, a navigational system using the trained CNN models were constructed. By evaluating the ability of the system to autonomously follow a forest path an understanding of the applicability of these methods for UGVs in general can be obtained. There where several results from the experiments. When comparing models trained on different datasets, we could see that the environment has an effect on the performance of the navigation, but even more so, the approach is sensitive to the camera position. Finally, an online test to evaluate the applicability of this approach as an end-to-end navigation system for UGVs is done. This experiment showed that these methods, on their own, are not a viable option for an end-to-end navigational system for UGVs in forest environments.<br>Artificiell intelligens och maskininlärning har gjort stora framsteg de senaste åren. I detta arbete tittar vi på tillämpningen av maskininlärning i visuella navigationssystem för obemannade fordon i naturliga miljöer. Tidigare verk har fokuserat på navigeringssystem med djupa ``convolutional neural networks'' (CNNs) för obemannade luftfarkoster. I detta arbete, utvärderar vi hur pass applicerbara och robusta dessa metoder är som navigationssystem för obemannade markfordon (UGVs). För att utvärdera hur pass applicerbara och robusta dessa maskininlärningsmetoder är för UGVs så utfördes två experiment. I det första experimentet utvärderas hur systemet reagerar på nya miljöer och kamerapositioner. Ett redan existerande dataset, med med foton från stigar i de schweiziska alperna, kompletterade med två nya dataset. Dessa två nya samlingar består av foton från svenska skogsstigar insamlade på två olika höjder. Dessa tre olika dataset användes för att träna tre olika olika modeller. Genom att korsutvärdera de tränade modellerna på de olika dataseten kan effekten av att förändrad kameraposition samt att byta miljö utvärderas. I det andra experimentet utrustades en UGV med ett navigationssystem byggt på dessa tränade modeller. Genom att utvärdering hur pass autonomt denna UGV kan följa en skogsstig så ges en förståelse för hur pass applicerbara dessa metoder är för UGVs generellt. Experimentet gav flera resultat. Korsutvärderingen visade att dessa metoder är känsliga för både kameraposition och miljö. Där byte av kameraposition har en större negativ påverkan på navigationsresultatet, än byte av miljö. Slutligen visade ett online-test att dessa metoder, i sin naiva form, inte är ett lämpligt alternativ för navigationssystem för UGVs i skogsmiljöer.
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Leis, Miriam J. S. "Robots - our future partners?! : a sociologist's view from a German and Japanese perspective." Marburg Tectum-Verl, 2006. http://deposit.d-nb.de/cgi-bin/dokserv?id=2834048&prov=M&dokv̲ar=1&doke̲xt=htm.
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Vi, Margareta. "Object Detection Using Convolutional Neural Network Trained on Synthetic Images." Thesis, Linköpings universitet, Datorseende, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-153224.
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Training data is the bottleneck for training Convolutional Neural Networks. A larger dataset gives better accuracy though also needs longer training time. It is shown by finetuning neural networks on synthetic rendered images, that the mean average precision increases. This method was applied to two different datasets with five distinctive objects in each. The first dataset consisted of random objects with different geometric shapes. The second dataset contained objects used to assemble IKEA furniture. The neural network with the best performance, trained on 5400 images, achieved a mean average precision of 0.81 on a test which was a sample of a video sequence. Analysis of the impact of the factors dataset size, batch size, and numbers of epochs used in training and different network architectures were done. Using synthetic images to train CNN’s is a promising path to take for object detection where access to large amount of annotated image data is hard to come by.
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Rudin, Malin. "Evaluation of Optical Flow for Estimation of Liquid Glass Flow Velocity." Thesis, Linköpings universitet, Datorseende, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-179072.
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In the glass wool industry, the molten glass flow is monitored for regulation purposes. Given the progress in the computer vision field, the current monitoring solution might be replaced by a camera based solution. The aim of this thesis is to investigate the possibility of using optical flow techniques for estimation of the molten glass flow displacement. Three glass melt flow datasets were recorded, as well as two additional melt flow datasets, using a NIR camera. The block matching techniques Full Search (FS) and Adaptive Rood Pattern Search (ARPS), as well as the local feature methods ORB and A-KAZE were considered. These four techniques were compared to RAFT, the state-of-the-art approach for optical flow estimation, using available pre-trained models, as well as an approach of using the tracking method ECO for the optical flow estimation. The methods have been evaluated using the metrics MAE, MSE, and SSIM to compare the warped flow to the target image. In addition, ground truth for 50 frames from each dataset was manually annotated as to use the optical flow metric End-Point Error. To investigate the computational complexity the average computational time per frame was calculated. The investigation found that RAFT does not perform well on the given data, due to the large displacements of the flows. For simulated displacements of up to about 100 pixels at full resolution, the performance is satisfactory, with results comparable to the traditional methods. Using ECO for optical flow estimation encounters similar problems as RAFT, where the large displacement proved challenging for the tracker. Simulating smaller motions of up to 60 pixels resulted in good performance, though computation time of the used implementation is much too high for a real-time implementation. The four traditional block matching and local feature approaches examined in this thesis outperform the state-of-the-art approaches. FS, ARPS, A-KAZE, and ORB all have similar performance on the glass flow datasets, whereas the block matching approaches fail on the alternative melt flow data as the template extraction approach is inadequate. The two local feature approaches, though working reasonably well on all datasets given full resolution, struggle to identify features on down-sampled data. This might be mitigated by fine-tuning the settings of the methods. Generally, ORB mostly outperforms A-KAZE with respect to the evaluation metrics, and is considerably faster.
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Freij, Hannes. "Hyperspectral Image Registration and Construction From Irregularly Sampled Data." Thesis, Linköpings universitet, Datorseende, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-179487.
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Hyperspectral imaging based on the use of an exponentially variable filter gives the possibility to construct a lightweight hyperspectral sensor. The exponentially variable filter captures the whole spectral range in each image where each column captures a different wavelength. To gather the full spectrum for any given point in the image requires the fusion of several gathered images with movement in between captures. The construction of a hyperspectral cube requires registration of the gathered images. With a lightweight sensor comes the possibility to mount the hyperspectral sensor on an unmanned aerial vehicle to collect aerial footage. This thesis presents a registration algorithm capable of constructing a complete hyperspectral cube of almost any chosen area in the captured region. The thesis presents the result of a construction method using a multi-frame super-resolution algorithm trying to increase the spectral resolution and a spline interpolation method interpolating missing spectral data. The result of an algorithm trying to suggest the optimal spectral and spatial resolution before constructing the hyperspectral cube is also presented. Lastly, the result of an algorithm providing information about the quality of the constructed hyperspectral cube is also presented.
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Persson, Anton, and Niklas Dymne. "Classification of black plastic granulates using computer vision." Thesis, Högskolan i Halmstad, Akademin för informationsteknologi, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:hh:diva-45674.
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Pollution and climate change are some of the biggest challenges facing humanity. Moreover, for a sustainable future, recycling is needed. Plas- tic is a big part of the recycled material today, but there are problems that the recycling world is facing. The modern-day recycling facilities can handle plastics of all colours except black plastics. For this reason, most recycling companies have resorted to methods unaffected by colour, like the method used at Stena Nordic Recycling Central. The unawareness of the individual plastics causes the problem that Stena Nordic Recycling Central has to wait until an entire bag of plastic granulates has been run through the production line and sorted to test its purity using a chemistry method. Finding out if the electrostats divider settings are correct using this testing method is costly and causes many re-runs. If the divider set- ting is valid in an earlier state, it will save both time and the number of re-runs needed.This thesis aims to create a system that can classify different types of plas- tics by using image analysis. This thesis will explore two techniques to solve this problem. The two computer vision techniques will be the RGB method see 3.3.2 and machine learning see 3.3.4 using transfer learning with an AlexNet. The aim is the accuracy of at least 95% when classifying the plastics granulates.The Convolutional neural network used in this thesis is an AlexNet. The choice of method to further explore is decided in the method part of this thesis. The results of the computer vision method and RGB method were difficult to determine more about in section 4.2. It was not clear if one plastic was blacker than the other. This uncertainty and the fact that a Convolutional neural network takes more features than just RGB into a count, discussed in section 3.3, makes the computer vision method, Con- volutional neural network, a method to further explore in this thesis. The results gathered from the Convolutional neural network’s training was 95% accuracy in classifying the plastic granulates. A separate test is also needed to make sure the accuracy is close to the network accuracy. The result from the stand-alone test was 86.6% accurate, where the plastic- type Polystyrene had a subpar result of 73.3% and 100% accuracy when classifying Acrylonitrile butadiene styrene. The results from the Convo- lutional neural network show that black plastics could be classified using machine learning and could be an excellent solution for classifying and recycling black plastics if further research on the field is conducted.
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Augustsson, Louise. "Study and Analysis of Convolutional Neural Networks for Pedestrian Detection in Autonomous Vehicles." Thesis, Uppsala universitet, Avdelningen för visuell information och interaktion, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-353608.
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The automotive industry is heading towards more automation. This puts high demands on many systems like Pedestrian Detection Systems. Such systems need to operate in real time with high accuracy and in embedded systems with limited power, memory resources and compute power. This in turn puts high demands on model size and model design. Lately Convolutional Neural Networks (ConvNets) have dominated the field of object detection and therefore it is reasonable to believe that they are suited for pedestrian detection as well. Therefore, this thesis investigates how ConvNets have been used for pedestrian detection and how such solutions can be implemented in embedded systems on FPGAs (Field Programmable Gate Arrays). The conclusions drawn are that ConvNets indeed perform well on pedestrian detection in terms of accuracy but to a cost of large model sizes and heavy computations. This thesis also comes up with a design proposal of a ConvNet for pedestrian detection with the implementation in an embedded system in mind. The proposed network performs well on pedestrian classification and the performance looks promising for detection as well, but further development is required.
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Luusua, Emil. "Vehicle Detection, at a Distance : Done Efficiently via Fusion of Short- and Long-Range Images." Thesis, Linköpings universitet, Datorseende, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-167073.
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Object detection is a classical computer vision task, encountered in many practical applications such as robotics and autonomous driving. The latter involves serious consequences of failure and a multitude of challenging demands, including high computational efficiency and detection accuracy. Distant objects are notably difficult to detect accurately due to their small scale in the image, consisting of only a few pixels. This is especially problematic in autonomous driving, as objects should be detected at the earliest possible stage to facilitate handling of hazardous situations. Previous work has addressed small objects via use of feature pyramids and super-resolution techniques, but the efficiency of such methods is limited as computational cost increases with image resolution. Therefore, a trade-off must be made between accuracy and cost. Opportunely though, a common characteristic of driving scenarios is the predominance of distant objects in the centre of the image. Thus, the full-frame image can be downsampled to reduce computational cost, and a crop can be extracted from the image centre to preserve resolution for distant vehicles. In this way, short- and long-range images are generated. This thesis investigates the fusion of such images in a convolutional neural network, particularly the fusion level, fusion operation, and spatial alignment. A novel framework — DetSLR — is proposed for the task and examined via the aforementioned aspects. Through adoption of the framework for the well-established SSD detector and MobileNetV2 feature extractor, it is shown that the framework significantly improves upon the original detector without incurring additional cost. The fusion level is shown to have great impact on the performance of the framework, favouring high-level fusion, while only insignificant differences exist between investigated fusion operations. Finally, spatial alignment of features is demonstrated to be a crucial component of the framework.