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1
Gwatkin, James. "Robo-CAMAL : anchoring in a cognitive robot". Thesis, University of Hull, 2009. http://hydra.hull.ac.uk/resources/hull:2366.
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The CAMAL architecture (Computational Architectures for Motivation,Affect and Learning) provides an excellent framework within which to explore and investigate issues relevant to cognitive science and artificial intelligence. This thesis describes a small sub element of the CAMAL architecture that has been implemented on a mobile robot. The first area of investigation within this research relates to the anchoring problem. Can the robotic agent generate symbols based on responses within its perceptual systems and can it reason about its environment based on those symbols? Given that the agent can identify changes within its environment, can it then adapt its behaviour and alter its goals to mirror the change in its environment? The second area of interest involves agent learning. The agent has a domain model that details its goals, the actions it can perform and some of the possible environmental states it may encounter. The agent is not provided with the belief-goal-action combinations in order to achieve its goals. The agent is also unaware of the effect its actions have upon its environment. Can the agent experiment with its behaviour to generate its own belief-goal-action combinations that allow it to achieve its goals? A second related problem involves the case where the belief-goal-action combination is pre-programmed. This is when the agent is provided with several different methods with which to achieve a specific goal. Can the agent learn which combination is the best? This thesis will describe the sub-element of the CAMAL architecture that was developed for a robot (robo-CAMAL). It will also demonstrate how robo-CAMAL solves the anchoring problem, and learns how to act and adapt in its environment.
2
Miyadaira, Alberto Noboru 1983. "Desenvolvimento, construção e controle de um robô móvel bípede com tronco". [s.n.], 2011. http://repositorio.unicamp.br/jspui/handle/REPOSIP/259581.
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Orientador: Marconi Kolm MadridDissertação (mestrado) - Unversidade Estadual de Campinas, Faculdade de Engenharia Elétrica e de Computação
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Resumo: O objetivo deste trabalho foi desenvolver, construir e controlar um robô bípede dotado de oito Graus de Liberdade (GDL), sendo três GDL para cada perna e dois para o tronco. As características desta estrutura permitiram realizar uma marcha dinâmica no plano sagital, cuja trajetória das pernas foi definida por um modelo matemático baseado na geometria da estrutura. Além disso, foi utilizado um acelerômetro para informar a inclinação da pelve durante a movimentação da estrutura através de uma interface serial de comunicação (RS-232) entre o microcontrolador e o programa de monitoramento desenvolvido em LabVIEW. Os resultados deste trabalho demonstram ser possível realizar uma marcha dinamicamente estável utilizando a estrutura proposta. Aplicando-se o conceito de ZMP (em português: Ponto de Momento Zero, em inglês: Zero Moment Point) como parâmetro de estabilidade, também constatou-se que o microcontrolador LPC2138 de arquitetura ARM7, com frequência de clock igual a 60MHz, foi eficaz no controle da posição angular dos oito servomotores, além de fornecer a inclinação da pelve quando solicitada
Abstract: The subject of this work was to develop, build and control a biped robot equipped with eight degrees of freedom (DOF), three DOF for each leg and two for the trunk. The features of this structure allowed to accomplish a dynamic walk in the sagittal plane, whose the legs trajectory was defined by a mathematical model based on the structure geometry. An accelerometer was used as tilt sensor, which allow you to check the tilt of the pelvis during structure movement through a serial interface (RS-232) between the microcontroller and the monitoring program developed in LabVIEW. The results of this work demonstrated that it is possible to achieve a dynamically stable gait using the proposed structure. Applying the concept of ZMP (Zero Moment Point) as criterion of stability, it was checked that the LPC2138 microcontroller, with ARM architecture running at 60MHz, was effective in controlling the angular position of the eight actuators and sending information about the pelvis tilt when requested
Mestrado
Automação
Mestre em Engenharia Elétrica
3
Döbler, Oliver [Verfasser]. "Genexpressionsanalyse der angiogenetischen Marker Robo1, Robo4 und Slit2 beim kolorektalen Karzinom / Oliver Döbler". Berlin : Medizinische Fakultät Charité - Universitätsmedizin Berlin, 2011. http://d-nb.info/1025510267/34.
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Gonçalves, João Bosco. "Desenvolvimento de um sistema de controle adaptativo e integrado para locomoção de um robo bipede com tronco". [s.n.], 2004. http://repositorio.unicamp.br/jspui/handle/REPOSIP/263888.
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Orientador: Douglas Eduardo ZampieriTese (doutorado) - Universidade Estadual de Campinas, Faculdade de Engenharia Mecanica
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Resumo: Este trabalho concebeu um robô bípede composto por uma sucessão de elos rígidos interconectados por 12 articulações rotativas, permitindo movimentos tridimensionais. O robô bípede é constituído por dois subsistemas: tronco e membros inferiores. A modelagem matemática foi realizada em separado para cada um dos subsistemas, que são integrados pelas forças reativas de vínculo. Nossa proposta permite ao robô bípede executar a andadura dinâmica utilizando o tronco para fornecer o balanço dinâmico (estabilidade postural). De forma inédita, foi desenvolvido um gerador automático de trajetória para o tronco que processa as informações de posições e acelerações impostas aos membros inferiores, dotando o robô bípede de reflexos. Foi desenvolvido um gerador de marcha que utiliza a capacidade do robô bípede de executar movimentos tridimensionais, implicando andadura dinamicamente estável sem a efetiva utilização do tronco. O gerador automático de trajetória para o tronco entra em ação se a marcha gerada não mantiver o balanço dinâmico, restabelecendo uma marcha estável. Foi projetado um sistema de controle adaptativo por modelo de referência que utiliza redes neurais artificiais. A avaliação de estabilidade é feita segundo o critério de Lyapunov. O sistema de controle e o gerador automático de trajetórias para o tronco são integrados, compondo os mecanismos adaptativos desenvolvidos para solucionar o modo de andar dinâmico
Abstract: The main objective of this work is to project a biped robot machine with a trunk. The mathematical model was realized by considering two sub-systems: the legs and the trunk. The trajectories of the trunk are planned to compensate torques inherent to the dynamic gait, permitting to preserve the dynamic balance of the biped robot. An automatic generator of trajectory for the trunk was developed that processes the infonnation of positions and accelerations imposed to the legs. A gait generator was developed that uses the capacity of the biped robot to execute three-dimensional movements, causing a steady dynamic gait without the effective use of the trunk. The automatic generator of trajectory for the trunk actuates, if the generated do not keep the dynamic balance, reestablishing he steady dynamic gait. A neural network reference model for the adaptive control was projected, which utilizes an RBF neural network and a stability evaluation is based on the criterion of Lyapunov. The system of control and the automatic generator of trajectories for the trunk are integrated, composing the adaptive mechanisms developed to solve the way of dynamic walking
Doutorado
Mecanica dos Sólidos e Projeto Mecanico
Doutor em Engenharia Mecânica
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Pignata, Aurora. "Study of the spatio-temporal dynamics of guidance receptors during commissural axon navigation in the spinal cord". Thesis, Lyon, 2018. http://www.theses.fr/2018LYSE1286/document.
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Les commissures forment un ensemble de connexions nerveuses assurant la communication entre les neurones de chaque hémi partie du système nerveux central des bilatériens. Au cours du développement embryonnaire, les axones des neurones commissuraux sont guidés au travers de la ligne médiane délimitant ces deux parties. Plusieurs sources de signaux de guidage attractifs et répulsifs agissent de concert pour organiser les trajectoires de ces axones. Dans la moelle épinière, les axones commissuraux traversent la ligne médiane dans un territoire ventral, la plaque du plancher (PP). Au cours de la traversée de la PP, ils acquièrent une sensibilité à des signaux répulsifs exprimés par ce territoire qui leur empêchent de rebrousser le chemin et qui les poussent hors de la PP. Plusieurs couples ligands/récepteurs médient ces forces répulsives mais les mécanismes qui sous-tendent l'acquisition de la sensibilité aux signaux répulsifs restent encore peu connus. Par exemple on ignore si les axons se sensibilisent à tous les signaux répulsifs en même temps, quand précisément ce switch de réponse se fait, et les contributions précises de chacun de ces signaux. Une spécificité fonctionnelle est suggérée par l'analyse des phénotypes d'invalidation des gènes codant pour ces récepteurs chez la souris ou encore par des manipulations d'expression chez l'embryon de poulet. L'objectif de mes travaux de thèse a été de tester l'hypothèse selon laquelle la génération de spécificités fonctionnelles pourrait résulter de contrôles précis et distincts de la dynamique spatiale et temporelle des récepteurs de guidage à la surface du cône de croissance. J'ai tout d'abord développé un dispositif de vidéomicroscopie adapté à l'enregistrement de cônes de croissance accomplissant la traversée de la PP, sur des moelles épinières en configuration de «livre ouvert». Afin de visualiser l'adressage à la surface du cône de croissance, j'ai exploité une forme de GFP sensible au pH, dont les propriétés de fluorescence à pH neutre permettent un suivi spécifique du pool de surface des protéines (Nawabi et al., 2010; Delloye-Bourgeois et al, 2014). J'ai utilisé ce paradigme pour comparer la dynamique temporelle de 4 récepteurs médiant les réponses aux divers signaux répulsifs de la PP: Nrp2, Robo1, Robo2 et PlxnA1. Les vecteurs d'expression de ces formes pHLuo de récepteurs ont été introduits dans les neurones commissuraux de la moelle épinière d'embryon de poulet par électroporation in ovo. Par des approches de microscopie à super-résolution sur les livres-ouverts, j'ai aussi étudié la distribution spatiale des récepteurs répulsifs à la surface des cônes de croissances au cours de la traversée. L'ensemble de ces expériences a pu démontrer que les récepteurs sont adressés à la membrane à différents temps de la navigation de la PP et occupent, de plus, des domaines distincts du cône de croissance. J'ai ensuite adapté la technique d'électroporation à la moelle épinière d'embryon de souris. Ces expériences ont montré que les séquences temporelles observées chez le poulet sont conservées chez la souris. J'ai également réintroduit le récepteur Robo1 dans une lignée de souris présentant une invalidation des récepteurs Robo1/2 et montré que l'altération de la traversée de la PP caractéristique de cette lignée est abolie dans la population d'axones capables d'adresser le récepteur Robo1 à la membrane. Au final, mes résultats démontrent que les axones commissuraux ne sont pas sensibilisés aux signaux répulsifs par la mise en œuvre d'un programme général. Au contraire, les récepteurs de guidage possèdent des profils de dynamiques temporelles spécifiques, et des domaines de distribution distincts dans le cône de croissance. Le contrôle de la dynamique d'adressage représente ainsi un mécanisme permettant de discriminer des signaux concomitants, en les fonctionnalisant à différents temps de la navigation de la moelle épinièreDuring embryonic development, commissural axons are guided through the midline, crossing from one side of the CNS to the other one at specific time points and positions to project onto contralateral neurons. Several sources of attractive cues regulate their navigation. In addition, repulsive forces act at different steps to keep the axons along their path. In the developing spinal cord, commissural axons cross the midline in a ventral territory, the floor plate (FP). Commissural axons gain sensitivity to repellents present in the FP after their crossing. The setting of these novel properties is necessary for preventing the axons to cross back and also for pushing them towards FP exit. Various ligand/receptor couples have been reported to mediate these repulsive forces. Whether commissural axons gain response to all the repulsive cues at the same time is not known. Whether these repulsive cascades have specific functions is suggested by different outcome of their invalidation in mouse models, but how are set these differences also remains unknown. We hypothesized that the generation of functional specificities could be achieved though specific controls of the spatial and temporal dynamics of guidance receptors at the growth cone surface. During my PhD, I developed a set up for time-lapse imaging of “open book” spinal cords, to monitor the dynamics of guidance receptors in axons experiencing native guidance decisions across the midline. To visualize their cell surface sorting, receptors were fused to the pH-sensitive GFP, pHLuorin, whose fluorescence at neutral pH reports membrane protein pools (Nawabi et al, 2010; Delloye-Bourgeois et al, 2014), and were expressed in spinal commissural neurons through in ovo electroporation. This paradigm revealed striking differences in the temporal dynamics of Nrp2, Robo1, Robo2 and PlexinA1, the receptors known to mediate the responsiveness to the major midline repellents referenced in vertebrates: Slit-Ns, Slit-Cs and Semaphorin3B. Moreover, using super-resolution microscopy, I could evidence that PlexinA1 and Robo1 are sorted in distinct subdomains of commissural growth cones navigating the floor plate. I also introduced the pHLuo-tagged receptors in the mouse embryo. These experiments showed that the temporal sequences established in the chick are conserved in the mouse, and that FP crossing in Robo1/2 mutant embryos was rescued in growth cones that could achieve cell surface sorting of Robo1. Thus, my results show that guidance receptors for midline repellents have highly specific spatial and temporal dynamics. The generation of a temporal sequences of cell surface sorting thus represents a mechanism whereby commissural growth cones discriminate concomitant signals by functionalizing them at different timing of their spinal cord navigation
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Barber, M. "The roles of the Robo2 and Robo3 receptors in the development of cortical interneurons and Cajal-Retzius cells". Thesis, University College London (University of London), 2009. http://discovery.ucl.ac.uk/15804/.
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This thesis focuses on the putative roles of the Robo2 and Robo3 receptors in regulating the development of cortical interneurons and Cajal-Retzius cells in the embryonic mouse forebrain. A detailed analysis of the expression patterns of the Robo3 receptor is elucidated for the first time. Further comparison of all three Robos with interneuron markers confirms that different populations of cortical interneurons express these receptors during development. The putative roles of the Robo2 and Robo3 receptors in specifying the total number and distribution of cortical interneurons during development is investigated in vivo, using transgenic mice deficient in these receptors. This analysis shows that removal of the Robo2 or Robo3 receptors alone does not result in significant changes in the total numbers or positioning of interneurons within the cortex, suggesting that these receptors are not involved in the ventral-dorsal tangential migration of interneurons from their origins within the ganglionic eminences to the cortex. However, both Robo2 and Robo3 receptors significantly regulate the morphology of migrating interneurons during development. Preliminary analysis in triple Robo mutant mice points to a complex interplay between these receptors, and highlights the importance of understanding the functional relationship between these. In addition, a population of pioneering Cajal- Retzius cells express Robo receptors during preplate stages of development. Analysis in single Robo mutant animals suggests that Robo2 has a role in determining the total numbers of (reelin immunopositive) Cajal-Retzius cells within the hippocampal cortex.
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Monteiro, Dionne Cavalcante. "Planejamento e rastreamento de trajetorias e controle de posição atraves de algoritmos geneticos e redes neurais artificiais". [s.n.], 2003. http://repositorio.unicamp.br/jspui/handle/REPOSIP/260988.
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Orientador: Marconi Kolm MadridTese (doutorado) - Universidade Estadual de Campinas, Faculdade de Engenharia Eletrica e de Computação
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Resumo: Neste trabalho os algoritmos genéticos e as redes neurais artificiais, técnicas de inteligência artificial, são empregadas para algumas das tarefas que podem ser realizadas por um braço de robô. Inicialmente os algoritmos genéticos são empregados para o controle de trajetória de um robô em um espaço de trabalho que possui a presença de um obstáculo. Operações como crossover e mutação são apresentadas, principalmente por estar-se tratando de trajetórias que são formadas por segmentos de retas. As redes neurais artificiais são testadas no controle direto de dois processos reais usados como paradigma: uma mesa XY e um pêndulo invertido acionado. Para tais processos, é utilizada uma estrutura bastante simplificada, onde a rede neural artificial fornece um ganho para o controlador proporcional que calcula o sinal de controle a ser aplicado. O erro do processo serve para treinar a rede neural sem ser considerado nenhum tipo de treinamento anterior, ou seja, todo o controle neural é executado em tempo real, além disso, uma função determina a taxa de aprendizagem do algoritmo back-propagation em função dos erro existentes nas malhas de controle dos processos. Como existem diversas variáveis para tais controladores neurais, foi também considerado que não existia a possibilidade de se definir o melhor controlador para um determinado processo. Para resolver tal problema, um algoritmo genético foi utilizado para designar qual o melhor controlador para um determinado espaço de trabalho no qual o número de neurônios das camadas de entrada e escondida, constantes de configuração do controlador, e a topologia da rede são otimizados dentro do espaço considerado pelo algoritmo. Todos os resultados importantes obtidos são mostrados, visando mostrar que as técnicas de inteligência artificial podem ser aplicadas à robótica com a vantagem de diminuir, principalmente, o tempo de planejamento de tarefas, tais como: planejamento de trajetória, rastreamento de trajetória, e projeto de controladores eficientes
Abstract: In this work genetic algorithms and artificial neural networks are used for robot arm tasks. Initially, the genetic algorithms are employed to control the trajectory of a robot arm in a limited workspace with an obstacle. Operations like crossover and mutation are presented to manipulate trajectories determined by line segments. Artificial neural networks are tested to control two realtime processes: a XY-Table and an inverted pendulum. For these processes, it is used a simple structured control where the neural network provides a gain to the proportional control, generating a control signal to the processes. The process error is used for training a neural network, without any kind of off-line training, i.e., the training of the neural network is in realtime. Also, a function determines the learning rate of the back-propagation algorithms as a function of the errors of the process control. Since the neural controller have multiple variables, it was not possible to define an optimal controller for the processes. To solve this problem, a genetic algorithm was used to determine the best neural controller in the workspace used, where the number of neurons in the input and hidden layers, constants to configure the neural controller and the network topology are optimized. The results obtained show that artificial intelligent techniques can be applied to robotics reducing the time of task planning, like: trajectory planning, track planning and the project of efficient controllers
Doutorado
Engenharia de Computação
Doutor em Engenharia Elétrica
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Eckel, Bénédicte. "Etude du rôle des récepteurs de guidage axonal Robo1 et Robo4 dans la formation et le développement des métastases osseuses". Phd thesis, Université Claude Bernard - Lyon I, 2012. http://tel.archives-ouvertes.fr/tel-00873485.
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Les métastases osseuses sont des complications fréquentes de nombreuses tumeurs solides et sontresponsables, sur le plan clinique, de fractures osseuses, d'hypercalcémie et de douleurs. A l'heure actuelle,il n'existe aucun traitement curatif ; la compréhension des mécanismes impliqués dans la formation et ledéveloppement des métastases osseuses est donc nécessaire afin d'envisager de nouvelles approchesthérapeutiques.Une analyse transcriptomique comparative entre une lignée humaine de cancer du sein, les MDA-MB-231, et leur sous-population ostéotropique, les B02, a montré une surexpression de composants de la voie designalisation Slit/Robo.Les récepteurs Robo et leurs ligands Slits, initialement identifiés comme facteurs clés du guidage axonal lorsdu développement, sont également impliqués dans la migration des cellules cancéreuses.Afin d'étudier le rôle de ces récepteurs Robo1 et 4 dans la dissémination métastatique à l'os, nousavons inhibé l'expression de ces gènes dans les cellules B02. Des expériences in vitro et in vivo montrentalors un rôle antagoniste de Robo1/4. En effet, l'inhibition de Robo1 augmente la croissance des tumeursprimaires, tandis que celle de Robo4 la diminue. Ces récepteurs régulent également différemment laformation de lésions ostéolytiques ainsi que la croissance tumorale de ces métastases. In vitro, l'absence deRobo1 augmente l'invasion, tandis que celle de Robo4 la diminue. Nous avons également montré quel'inhibition de Robo4 ralentit la colonisation de la moelle osseuse par les cellules B02 à des temps précoces.Enfin, l'étude d'une cohorte de patientes atteintes d'un cancer du sein montre une corrélation entrel'expression de Robo4 et la rechute métastatique osseuse.Cette étude montre l'implication de la voie Slit/Robo dans la dissémination métastatique à l'os, etsemble par conséquent constituer une approche thérapeutique judicieuse pour traiter ces métastases.
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Mioso, Roberto. "Indução a reprodução e incubação de ovos do robalo centropomus parallelus poey, 1860 (pisces, centropomidae)". reponame:Repositório Institucional da UFSC, 1995. http://repositorio.ufsc.br/xmlui/handle/123456789/76282.
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Ikeda, Ligia Mitie. "Análise dos grupos de pacientes submetidas a parto cesáreo na Maternidade do Hospital das Clínicas da Faculdade de Medicina de Botucatu a partir de uma classificação de Robson modificada". Botucatu, 2020. http://hdl.handle.net/11449/192349.
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Orientador: Leandro Gustavo de OliveiraResumo: Introdução: A classificação de Robson tem sido utilizada para avaliação das taxas de cesáreas no mundo. Recomenda-se que cada localidade adapte a classificação original de acordo com suas necessidades. Objetivos: Analisar os casos de cesáreas realizadas na Maternidade do Hospital das Clínicas da Faculdade de Medicina de Botucatu utilizando uma classificação baseada nos 10 grupos de Robson, modificada a partir da inclusão de subgrupos e analisar os resultados a partir das recomendações estabelecidas pela Organização Mundial da Saúde. Métodos: Foi um estudo prospectivo com pacientes admitidas para assistência ao parto, no período de 01 de junho 2018 e 31 de maio de 2019. Uma planilha foi desenhada para a coleta dos dados e a classificação dos grupos foi elaborada a partir da classificação de Robson, modificada pela inclusão de subgrupos com métodos de indução e momento da indicação da cesárea. Resultados: Foram analisados 1823 partos, sendo 810 (44%) cesáreos. Houve 35,6% de primigestas, 19,5% de uma cesárea prévia e 15,4% de prematuros. O grupo 5, com maior número, teve 435 pacientes (23,8%), seguido do grupo 3, 422 (23,1%) e do grupo 1, 316 (17,3%). O grupo 5 teve maior número de cesáreas, 305 (37,6%). O grupo 2 teve 128 (15,8%). As iterativas totalizaram 19%. Indução do trabalho de parto teve 55,0% de sucesso. Entre pacientes com comorbidades, 60,5% tiveram cesárea. Comorbidades obstétricas mais frequentes foram: pré-eclâmpsia (12,7%), diabetes gestacional (8,4%) e restrição... (Resumo completo, clicar acesso eletrônico abaixo)
Abstract: Introduction: Robson classification has been used to assess cesarean section rates worldwide. It is recommended that each location adapts the original classification according to their needs. Objectives: To analyze the cases of cesarean sections performed at the Maternity from the Clinics Hospital from Medical School of Botucatu using a classification based on Robson's 10 groups, modified from the inclusion of subgroups, and to analyze the results from the recommendations established by the World Health Organization. Methods: This was a prospective study with patients admitted for childbirth assistance from June 1, 2018 to May 31, 2019. A spreadsheet was designed for data collection and the classification of groups was elaborated from the classification of Robson, modified by the inclusion of subgroups with methods of induction and the moment of cesarean section indication. Results: 1,823 births were analyzed, 810 (44%) of which were cesarean. There were 35.6% of primiparous women, 19.5% of women with previous cesarean section and 15.4% of premature babies. Group 5, with the largest number, had 435 patients (23.8%), followed by group 3, 422 (23.1%) and group 1, 316 (17.3%). Group 5 had the highest number of cesarean sections, 305 (37.6%). Group 2 had 128 (15.8%). Women with two or more previous cesarean sections totaled 19%. Labor induction was 55.0% successful. Among patients with comorbidities, 60.5% had cesarean sections. Most frequent obstetric comorbidities were: pre-ecl... (Complete abstract click electronic access below)
Mestre
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Szabari, Mikuláš. "Konstrukce kráčejícího mobilního robotu". Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2018. http://www.nusl.cz/ntk/nusl-382418.
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The diploma thesis deals with the construction of a walking mobile robot, which is intended for passing through a rugged or forest terrain, whose task is to collect the sample. The first part is devoted to the review of walking robots. Follow-up an analysis of two-legged and four-leg walking robot technologies and a brief overview of drives. The second part is devoted to problem analysis and design variant. The work contains 4 design variants in the form of schemes. Using the multi-criteria analysis, the variants were evaluated and the optimal variant was chosen taking into account the representative parameters. The third part is devoted to the construction of the chosen variant, it is divided into body and leg construction. The overall design is processed in the form of a virtual 3D model. In the leg construction, the design itself, but also the calculations of drives, shafts, gears and belt transmissions are solved. The end of the thesis is devoted to drawing documentation based on 3D model and economic evaluation. Follow-up and discussion with possible continuation and use in practice.
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Lochman, Vít. "Konstrukce jednokolového mobilního robotu se schopností skákání". Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2020. http://www.nusl.cz/ntk/nusl-417721.
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The diploma thesis deals with the design of a single-wheel mobile robot, which is able to jump and collect samples weighing 2 Kg. The first part is devoted to the review of single-wheel robots. A brief analysis of single-wheel motion and a brief overview of jumping mechanism follow up. The second part describes problem analysis and five design variants. Using the multicriteria analysis, the variants were evaluated, and the optimal variant was chosen. The third partm is dedicated to the dynamic calculations and the mechanical design of the robot itself. The last part is devoted to economic evaluation and discussion with possible continuation in developing. The complete drawing documentation of the robot is included in this work.
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IHRFELT, FREDRIK y WILLIAM MARIN. "Self-balancing robot : WiFi steerable self-balancing robot". Thesis, KTH, Skolan för industriell teknik och management (ITM), 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-279821.
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This bachelor thesis aims to investigate the viability of using two wheeled self-balancing robots for package deliveries. The movement of the two wheeled self-balancing robot resembles the human movement more than a traditional four wheeled vehicle. The goal of the report is to build a selfbalancing robot to investigate how far from the center axis a weight can be added, as well as what the response time of a Wireless Fidelity (WiFi) connection for steering the robot is and how it compares to a Bluetooth connection. Balance of the robot was achieved by using a Proportional-IntegralDerivative (PID) controller with inputs from a gyroscope and accelerometer. Stepper motors were used to maneuver the robot. When the robot was constructed tests were performed to evaluate how far from the center axis a weight could be added. A test was also performed to evaluate the WiFi connection response time with regard to the distance between the operator and the robot, as well as the maximum range and how it compares to Bluetooth. The results showed that a one kilogram weight could be added five centimeters from the center axis, that the response time was around 10-20 milliseconds for a distance up to 35 meters. A WiFi connection has a longer range compared to Bluetooth and also has a lower response time.Denna rapport strävar efter att undersöka möjligheterna av att använda en själv-balanserande robot för paketleveranser. Rörelsen av en tvåhjulig själv-balanserande robot liknar den mänskliga rörelsen mer än ett traditionellt fyrhjuligt fordon. Målet med rapporten är att bygga en självbalanserande robot för att undersöka hur långt från dess centeraxel en vikt kan placeras, samt undersöka vilken responstid som uppnås med en Wireless Fidelity (WiFi)-länk och hur en WiFi-länk jämför med en Bluetooth-länk. Balans uppnåddes genom att använda en Proportional-IntegralDerivative (PID) regulator med input från ett gyroskop och en accelerometer. Stegmotorer användes för att manövrera roboten. När roboten hade konstruerats utfördes tester för att undersöka hur långt från centrumaxeln en vikt kunde placeras. Ett test utfördes för att undersöka responstiden för en WiFi-länk med avseende på avståndet mellan operatör och robot, samt att undersöka den maximala räckvidden och jämföra den mot Bluetooth. Resultaten visade att en vikt på ett kilogram kunde placeras fem centimeter från centeraxeln, att responstiden var ungefär 10-20 millisekunder för avstånd upp till 35 meter. En WiFi-länk har en längre räckvidd än Bluetooth och kortare responstid.
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Forsgren, Adam, Anton Forss, Fredrik Isaksson, Johan Malgerud y Johan Tideman. "Självbalanserande Robot – Balansering av tvåhjulig robot med propellrar". Thesis, KTH, Maskinkonstruktion (Inst.), 2012. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-184180.
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Detta projekt har gått ut på att bygga en självbalanserande robot på två hjul som autonomt ska kunna köra 10-30 meter rakt fram, detektera en svart linje på marken och sedan stanna och fortsätta hålla balansen. Vi valde en cykelkonstruktion med en propellerbestyckad vinge för balansering. Två propellrar regleras av en PID-regulator med hjälp av signaler från en accelerometer och ett gyro. Framdriften sker med en DC-motor kopplad till framhjulet. En reflexionssensor används för detekteringen av den svarta linjen och hela framdrivningen styrs via IR-fjärrkontroll.The goal of this project was to build a self-balancing robot on two wheels that autonomously can drive 10-30 meters, detect a black line on the ground and then stop while still upholding balance. We chose a bike-like construction with a propeller-mounted wing for balancing. Two propellers are regulated by a PID-regulator aided by an accelerometer and a gyro. Propulsion is done by a DC-motor on the front wheel. A reflex sensor is used to detect the black line and the whole propulsion system is remote controlled by IR.
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Puignau, Francisco. "Modelado dinámico de un vehículo autónomo articulado todoterreno". reponame:Biblioteca Digital de Teses e Dissertações da UFRGS, 2017. http://hdl.handle.net/10183/172267.
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Faculty of Engineering in collaboration with the National Agricultural and Livestock Investigation Institute is developing a low cost platform capable of dealing with challenges imposed by agricultural activities, specifically, fruit transportation inside fields. In this context, the consequent dissertation focuses on the development of a dynamic model of an all terrain articulated autonomous vehicle to be applied in the aforementioned platform. The study includes the kinematic and dynamic analysis of the vehicle. Once those models are deducted, they are put together against the ones obtained for a biarticulated robot arm without ground fixation. To sum up, results will be adapted for computational simulation which was done via Gazebo, an ambience of the robot operating system ROS. Through this simulations it was possible to determine the model validity for the autonomous operating robotic platform.Facultad de Ingeniería en conjunto con el Instituto Nacional de Investigación Agropecuaria desarrolla una plataforma móvil de bajo costo capaz de enfrentar los retos impuestos por la actividad agrícola, más específicamente, asistencia en el transporte de fruta. Es en este contexto que el presente trabajo se enfoca en desarrollar un modelo dinámico de un vehículo autónomo articulado todoterreno para ser aplicado en la mencionada plataforma. El estudio comprende el análisis de la cinemática y dinámica del vehículo. Una vez obtenidos los modelos cinemáticos y dinámicos, se compara los mismos con los obtenidos para un brazo biarticulado sin vínculo a tierra. Finalmente se adaptan los resultados para simulación computacional la cual fue realizada utilizando el ambiente Gazebo del sistema operativo robótico ROS. A través de esta simulación se pudo comprobar la validez del modelo desarrollado para la plataforma robótica autónoma en operación.
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Yan, Bingchen. "Lo sviluppo e l'applicazione della guida autonoma in Cina durante l'epidemia". Master's thesis, Alma Mater Studiorum - Università di Bologna, 2021.
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In 2020, the world suffered from a very severe new pandemic, Covid-19. All industries have been very badly affected. Many people have been forced to isolate themselves at home, working remotely. The streets are sparsely populated, but one benefit is that traffic is not as heavy as it used to be. This has facilitated the testing and trial run of autonomous driving technology in China. Self-driving buses and taxis have been in trial operation in several cities, including Shenzhen, Suzhou and Wuhan, where citizens can ride for free by booking online through a mobile APP. At the same time, unmanned delivery vehicles and sweeper vehicles have also been used in different areas.
This paper introduces the basic knowledge of autonomous driving vehicles and the status quo of R&D and testing, analyzes the advantages and disadvantages of its development in China, and gives an example of the latest test results of autonomous driving. Autonomous vehicles will dominate the automotive industry for many years to come, bringing new travel experiences to consumers.
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Wirbel, Émilie. "Localisation et navigation d’un robot humanoïde en environnement domestique". Thesis, Paris, ENMP, 2014. http://www.theses.fr/2014ENMP0058/document.
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Cette thèse traite du problème de la localisation et de la navigation de robots humanoïdes à bas coût dans un environnement dynamique non contraint. Elle a été réalisée en collaboration entre le laboratoire de robotique CAOR de Mines ParisTech et Aldebaran, dont les robots NAO et Pepper sont utilisés comme plateformes.On verra ici comment il est possible de déduire des informations d'orientation et de position du robot malgré les fortes contraintes de puissance de calcul, de champ de vision et de généricité de l'environnement. L'environnement est représenté sous une forme topologique : les lieux sont stockés dans des nœuds, reliés par des transitions. On apprend l'environnement dans une phase préalable permettant de construire une référence. Les contributions principales de la thèse reposent sur les méthodes de calcul de l'orientation et d'une mesure de position du robot à l'aide des caméras monoculaires à faible champ de vision,et leur intégration dans une structure topologique. Pour se localiser dans le graphe, on utilise principalement les données de vision fournies par les caméras monoculaires du robot, tout en laissant la possibilité de compléter à l'aide de caméras 3D. Les différentes méthodes de localisation sont combinées dans une structure hiérarchique qui permet à la fois d'améliorer la robustesse et de fusionner les données de localisation. Un contrôle de la trajectoire est également mis en place pour permettre d'effectuer de façon fiable les transitions d'un nœud à l'autre, et accessoirement fournir un système de retour pour la marche du robot.Les travaux de cette thèse ont été intégrés dans la suite logicielle d'Aldebaran, et testés intensivement dans différents environnements afin de valider les résultats obtenus et préparer une livraison aux clientsThis thesis covers the topic of low cost humanoid robots localization and navigation in a dynamic unconstrained environment. It is the result of a collaboration between the Centre for Robotics of Mines ParisTech and Aldebaran, whose robots, NAO and Pepper, are used as experimental platforms.We will describe how to derive information on the orientation and the position of the robot, under high constraints on computing power, sensor field of view and environment genericity. The environment is represented using a topological formalism : places are stored in vertices, and connected by transitions. The environment is learned in a preliminary phase, which allows the robot to construct a reference.The main contribution of this PHD thesis lies in orientation and approximate position measurement methods, based on monocular cameras with a restricted field of view, and their integration into a topological structure. To localize the robot in the robot, we use mainly data providing by the monocular cameras of the robot, while also allowing extensions, for example with a 3D camera. The different localization methods are combined into a hierarchical structure, which makes the whole process more robust and merges the estimations. A trajectory control has also been developped in order to transition accurately from one vertex to another, and incidently to provide a feedback on the walk of the robot.The results of this thesis have been integrated into Aldebaran software suite, and thoroughly tested in various conditions, in order to validate the conclusions and prepare a client delivery
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Carvalho, Cristina Vaz Avelar de. "Feminização de juvenis de robalo-peva Centropomus parallelus e robalo-flecha Centropomus undecimalis". reponame:Repositório Institucional da UFSC, 2013. https://repositorio.ufsc.br/handle/123456789/107326.
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Tese (doutorado) - Universidade Federal de Santa Catarina, Centro de Ciências Agrárias, Programa de Pós-graduação em Aquicultura, Florianópolis, 2013Made available in DSpace on 2013-12-05T23:48:53Z (GMT). No. of bitstreams: 1 318826.pdf: 2249187 bytes, checksum: ecdc16b944998e0aff30a802496dc0be (MD5) Previous issue date: 2013
A manipulação do sexo gonadal em peixes de cultivo é uma importante técnica utilizada na aquicultura, pois permite obter benefícios associados a um dos sexos. Os hormônios esteroides são utilizados para controlar o sexo gonadal. Apesar desta técnica já ser utilizada com várias espécies pouco se sabe a respeito do uso do 17ß-estradiol (E2) com o robalo-peva Centropomus parallelus e robalo-flecha Centropomus undecimalis. Estas duas espécies são nativas, eurialinas e com alto valor de mercado. Sendo assim, o objetivo desta Tese foi avaliar o efeito de rações com diferentes concentrações de E2 na proporção dos sexos, na sobrevivência e crescimento dos juvenis de robalo-peva e robalo-flecha. Os experimentos foram divididos em duas etapas: feminização e pós feminização. No final dos experimentos foi possível obter um alto percentual de fêmeas. Também foi possível observar que o crescimento dos peixes só foi reduzido durante o tratamento hormonal. Após o fim da oferta da ração com hormônio os peixes recuperaram o crescimento. Além disso, o hormônio não afetou a sobrevivência dos peixes. Com este trabalho concluiu-se que o uso de E2 na ração é eficiente na feminização de juvenis de robalo-peva e robalo-flecha.
The manipulation of gonadal sex in fish farming is an important technique used in aquaculture, since it gives benefits associated with one sex. The steroid hormones are used to control the gonadal sex. Although this technique is already used in several species, little is known about the use of 17ß-estradiol (E2) with fat snook Centropomus parallelus and common snook Centropomus undecimalis. These two species are native, and eurialinas with high market value. Therefore, the aim of these experiments was to evaluate the effect of diets with different concentrations of E2 in the sex ratio, survival and growth of juvenile fat snoook and common snook. The experiments were divided into two stages: feminization and post-feminization. At the end of the experiments was to obtain a high percentage of females. The growth of the treated fish was significantly retarded during the period of treatment, while there was no side effect detected post-tretament and the retarded fish caught up after the E2 treatment. Furthermore, the hormone did not affect survival. With this work it was concluded that the use of E2 in the diet is effective in feminization of juvenile fat snook and comoon snook.
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Moschen, Fernando Vitor de Abreu. "Efeito da artemia enriquecida com ácidos graxos essenciais na larvicultura do robalo-peva Centropomus parallelus (Poey, 1860)". Florianópolis, SC, 2000. http://repositorio.ufsc.br/xmlui/handle/123456789/78109.
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Dissertação (mestrado) - Universidade Federal de Santa Catarina, Centro de Ciências Agrárias.Made available in DSpace on 2012-10-17T10:29:12Z (GMT). No. of bitstreams: 0
Numerosos estudos têm demonstrado a importância dos ácidos graxos altamente insaturados, especialmente os da série n-3, como um importante componente da dieta na larvicultura de peixes marinhos. Este estudo, procurou avaliar o efeito do enriquecimento de metanáuplios de Artemia sp., no desenvolvimento de larvas do robalo-peva (Centropomus parallelus). No 21o dia de larvicultura, as larvas foram transferidas para 12 tanques de fibra de vidro (volume de 100 litros), e estocados numa densidade de 100 larvas por tanque. A partir do 22o até o 45o dia de idade, a alimentação foi fornecida de acordo com os seguintes tratamentos: Tratamento C - Controle (Artemia sem enriquecimento); Tratamento W - Artemia enriquecida com uma emulsão experimental (óleo de fígado de bacalhau, gema de ovo e levedura); Tratamento S - Artemia enriquecida com Selco (Inve Aquaculture NV, Bélgica); Tratamento SS - Artemia enriquecida SuperSelco (Inve Aquaculture NV, Bélgica), todos os tratamentos foram feitos em triplicata. Não foram observadas diferenças significativas entre os tratamentos, quanto ao comprimento e peso. Os tratamentos S e SS, conferiram uma maior biomassa final, maior sobrevivência e resistência ao teste de estresse (exposição das larvas à salinidade 65# durante 3 minutos e meio) do que os tratamentos C e W. No segundo experimento, os tratamentos utilizados foram: Tratamento C - controle (Artemia sem enriquecimento); Tratamento F - Artemia enriquecida com emulsão à base de óleo de fígado de bacalhau; Tratamento O - Artemia enriquecida com emulsão à base de óleo orbital de bonito; Tratamento S - Artemia enriquecida com Selco. Não foi observada diferença significativa quanto ao comprimento, peso das larvas e biomassa final. O Tratamento S obteve os melhores resultados de sobrevivência final e de resistência ao teste de estresse.
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Souza, Filho José Jerônimo de. "Influência da densidade de estocagem no cultivo de juvenis do robalo Centropomus undecimalis Bloch, 1792 (Pisces: Centropomidae), em condições controladas". Florianópolis, SC, 2000. http://repositorio.ufsc.br/xmlui/handle/123456789/78823.
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Dissertação (mestrado) - Universidade Federal de Santa Catarina, Centro de Ciências Agrárias.Made available in DSpace on 2012-10-17T19:48:44Z (GMT). No. of bitstreams: 0
O objetivo deste estudo foi investigar a influência da densidade de estocagem sobre o crescimento, conversão alimentar e sobrevivência de juvenis do robalo Centropomus undecimalis, durante o período de 180 dias. Os peixes foram coletados em um estuário localizado na Baía de Todos os Santos - BA, e condicionados a aceitar uma dieta artificial, em seguida foram estocados em nove tanques de fibra, com formato circular e capacidade de 5 m³, sob três diferentes densidades: 3, 6 e 9 peixes/m³. Os tanques foram abastecidos com água do mar, com renovação diária de 50%. Um compressor de ar foi usado para aerar continuamente os tanques. Os valores de amônia total, temperatura da água, salinidade, pH e oxigênio dissolvido, durante o experimento, apresentaram um padrão similar entre os tratamentos. Houve diferença significativa (P<0,05) entre as médias de peso e comprimento das três densidades utilizadas. A maior taxa de crescimento foi observada nos peixes estocados em menor densidade, porém a biomassa final foi superior no tratamento com 9 peixes/m3. A conversão alimentar e sobrevivência foram significativamente melhores para os peixes estocados à baixa densidade que nos outros tratamentos. Conclui-se que o robalo, dentro das densidades testadas, apresentou uma correlação inversa entre taxa de crescimento e densidade de estocagem.
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Soligo, Thiago Augusto. "Primeiras experiências com a reprodução, larvicultura e desmame do robalo-flecha, Centropomus undecimalis no Brasil". Florianópolis, SC, 2007. http://repositorio.ufsc.br/xmlui/handle/123456789/90129.
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Dissertação (mestrado) - Universidade Federal de Santa Catarina, Centro de Ciências Agrárias. Programa de Pós-Graduação em Aqüicultura.Made available in DSpace on 2012-10-23T06:26:34Z (GMT). No. of bitstreams: 1 242548.pdf: 307248 bytes, checksum: 0a76aaf9c525957a738daddaacd37416 (MD5)
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Nilsson, Fredrik. "Balanserande robot". Thesis, Linköping University, Department of Electrical Engineering, 2010. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-19742.
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Denna rapport behandlar utveckling av en tvåhjulig balanserande robot. En PID-regulator är implementerad i en mikrokontroller, som även AD-omvandlar en sensorsignal, samt styr motorer via H-bryggor med pulsbreddsmodulering. I rapporten förklaras framtagning av diskret PID-regulator, processorkort, motorkort, val av komponenter och sensor för att mäta robotens vinkel mot ett vertikalplan.
Roboten kan balansera stillastående, men behöver kompletteras ytterligare med hjulåterkoppling för att kunna balansera medan den kör. Roboten balanserar med mätdata från en mekanisk golvavkännare (potentiometer). Andra sorters sensorer diskuteras också, t ex accelerometer, gyro och optisk sensor.
This report explain the development of a two wheel balancing robot. A PID-regulator is implemented in a microcontroller, which also AD-converts a sensor signal, and generate pulse width modulated signals to drive H-bridges. It is discussed how to develop a discretisized PID regulator, microcontroller and H-bridge circuit boards, as well as how to chose components and suitable sensors for measuring the robots angle against a vertical plane.
The robot is able to balance on its own when standing still, but it need to have feedback from its wheel position if it should be able to maintain balancing when moving. The robot use a mechanical floor feeler (potentiometer). Other sensors are also discussed, e g accelerometer, rate gyro and optical sensor.
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Graf, Birgit. "Robot soccer". [S.l.] : Universität Stuttgart , Fakultät Informatik, 1999. http://www.bsz-bw.de/cgi-bin/xvms.cgi?SWB7987414.
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Hedvall, Axel y Filip Rydén. "Omnidirectional Robot". Thesis, KTH, Mekatronik, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-296257.
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Robots are being used more and more in today’s society. These robots need to be mobile and have a good understanding of their surroundings. This bachelor’s thesis in mechatronics aims to see how a mobile robot can be constructed, and how it can best map its surroundings. The robot was built to have three omni wheels to allow it to move freely in the plane and stepper motors to provide accurate movement. Ultrasonic sensors were placed around the robot to be used as a tool to determine its surroundings. The brain of the robot was an Arduino UNO, which with the help of an ESP-01, communicated with aserver over Wi-Fi. The server received the data from the ultrasonic senors and drew a map on a web page. Multiple test were made to evaluate the different systems. The robot moved really well and with high precision after some tweaking. The ultrasonic sensors were also very precise and the communication between the robot and the server worked very well. All the different systems were combined to make the robot move autonomously. The robot could navigate by itself and avoid obstacles. Although the mapping worked from a technical point of view, it was hard to read and could be done better.Robotar är något som används mer och mer i dagens moderna samhälle. Dessa robotar behöver vara mobila och haen god uppfattning om miljön de befinner sig i. Detta kandidatexamensarbete inom mekatronik ska undersöka hur en mobil robot kan byggas, och hur den kan kartlägga miljönden befinner sig i. Roboten som konstruerades hade tre omnihjul för att kunna röra sig fritt längs markplanet och stegmotorer för precis drift. Ultraljudsensorer placerades runt om roboten för att ge den en uppfattning av omgivningen. Hjärnan i roboten var en Arduino UNO som med hjälp av en ESP-01 kommunicerade över Wi-Fi till en server. Servern tog emotsensordata från roboten och ritade upp det som en karta ien webbläsare. Det utfördes tester för att utvärdera de olika delsystemen. Driften på roboten fungerade utmärkt med god precisionefter några iterationer. Ultraljudsensorerna hade också godprecision och kommunikationen mellan roboten och servern fungerade mycket bra. De olika delsystemen kombinerades för att ge roboten självkörning. Roboten kunde navigera själv och undvika hinder. Trots att kartan fungeradeur ett tekniskt perspektiv så var den svårtydd och kunde förbättrats.
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Vyoral, Jakub. "Humanoidní robot". Master's thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2011. http://www.nusl.cz/ntk/nusl-218946.
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This work deals with automatic generation of hybrid dynamics of bipedal robot in Matlab symbolic toolbox. Next goal is to provide linearisation of nonlinear model and achieve optimal state space controller. Work implements object model generator and simulator based on core of Matlab Simulink and visualisation of the results in user friendly GUI.
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Absalyamov, Artur y Jimmy Gladh. "Navigation Robot". Thesis, Uppsala universitet, Signaler och system, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-416934.
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Journeying into the information era the need for new technologies used forsending vast amounts of data eciently has risen, as has the possibilities and needfor dierent types of AI-controlled robots. In this project a RC-car was modiedand equipped with a Raspberry PI and laser radar to let it automatically navigatearound a room using UWB transmitters and receivers. A framework for roboticapplications called ROS, Robot Operating System, was used with a large numberof open source packages to ll dierent functions. Custom scripts was created totie everything together, allowing all dierent components in the system to work inunison.
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Mälberg, Filip y Linda Truong. "Feeding Robot". Thesis, KTH, Maskinkonstruktion (Inst.), 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-226671.
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This project considers a construction of a robot arm thatfollows a specific pattern to detect food. To thereafterreach a position which illustrates the position of a person’smouth. Due to limited time during this project the robothas no gripper to grab the food. To find food on a specificarea, a distance sensor was required. Therefor, anultrasonic sensor was used where it was fasten to a servomotor. The servo motor enabled the ultrasonic sensor toalways face down while searching for food. To achieve aprecise motion and position during the movement pattern aPID-regulator was implemented. An experiment was doneto compare how different controllers affected the systemon different angular distances. With modeling the systemand implementing pole placement control the theoreticalparameters were calculated. To steer the DC motors a feedbackof the current position needed to be known, this wassolved using potentiometers. All torque transmission wasdone by wires, which was an advantage for this project dueto the large weight of motors. The final outcome accomplishedto follow the given pattern in a suitable way anddetect a piece of food.Denna rapport omfattar en konstruktion av en robotarmoch dess rörelse att följa ett specifikt mönster för att detekteramat. Därefter sträcka sig till en position som illustreraren människas mun. Då avsedd tid för detta arbetevar begränsat, konstruerades roboten utan en gripare.För att hitta mat i ett avgränsat område, krävdes en avståndssensor. Därför valdes en ultraljudssensor som fästesp°a en servomotor. Servomotorn gjorde det möjligt för ultraljudssensornatt alltid vara riktad nedåt under sökandetefter mat. För att uppnå en precis rörelse och position undermönstret, implementerades en PID-regulator. Ett experimentutfördes för jämförelse av hur olika regulatorerpåverkade systemet på olika vinkelavstånd. De teoretiskaparametrarna beräknades med hjälp av modellering av systemetoch polplacering. För att styra DC motorerna måsterobotarmens position vara känd, detta löstes med potentiometrar.All kraftmoment överfördes genom vajrar, vilketvar en fördel för detta projekt på grund av den tungavikten på motorerna. Slutresultatet av konstruktionen lyckadesfölja det givna mönstret och detektera mat på ettlämpligt vis.
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LAURENT, EMELIE y MAGNUS RAMSKÖLD. "Sodoku Robot". Thesis, KTH, Skolan för industriell teknik och management (ITM), 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-279828.
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Sudoku is a popular puzzle game where the aim is to fill a board with numbers from one to nine with some mathematical rules to obey. The difficulty level of a Sudoku is affected by the amount of digits in the beginning, called clues. Mathematically there exists different algorithms and methods to solve a Sudoku. In this project some of the methods are investigated and compered to each other in time to find the fastest and most suitable for this project. A construction was built to be able to print out a non solved puzzle. Due to the current situation in society with Covid-19, the project has been affected negatively. The construction became very time consuming due to lack of tools and material. That affected the finished construction and the implementation of the code written in Python. After all the robot was able to print a Sudoku puzzle that can be solved. The printing time was decreased to 3 minutes after some tests with different delays. All the research questions were answered and the goal of the project which was to be able to print a Sudoku was reached.Sudoku är ett populärt pussel där målet är att fylla i ett rutnät med siffror från ett till nio med vissa matematiska regler att följa. Svårighetsgraden av ett sudoku påverkas av antalet siffror från början, ledtrådar. Matematiskt finns det olika algoritmer och metoder för att lösa ett sudoku. I det här projektet undersöktes några metoder och jämfördes tidsmässigt med varandra för att hitta den snabbaste och mest passande för det här projektet. En konstruktion byggdes för att kunna skriva ut ett icke löst pussel. På grund av den rådande situationen i samhället med Covid19 så har projektet påverkats negativt. Konstruktionen blev väldigt tidskrävande på grund av brist på verktyg och material. Detta påverkade den slutgiltiga konstruktionen och implementeringen av koden skriven i Python. Trots allt så kunde roboten skriva ut ett Sudoku som kan lösas. Tiden att skriva ut ett Sudoku minskades till 3 minuter efter ett antal tester med olika fördröjningar. Alla forskningsfrågor kunde besvaras och målet med projektet som var att kunna skriva ut ett Sudoku nåddes.
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Akan, Batu. "Human Robot Interaction Solutions for Intuitive Industrial Robot Programming". Licentiate thesis, Mälardalens högskola, Akademin för innovation, design och teknik, 2012. http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-14315.
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Over the past few decades the use of industrial robots has increased the efficiency as well as competitiveness of many companies. Despite this fact, in many cases, robot automation investments are considered to be technically challenging. In addition, for most small and medium sized enterprises (SME) this process is associated with high costs. Due to their continuously changing product lines, reprogramming costs are likely to exceed installation costs by a large margin. Furthermore, traditional programming methods for industrial robots are too complex for an inexperienced robot programmer, thus assistance from a robot programming expert is often needed. We hypothesize that in order to make industrial robots more common within the SME sector, the robots should be reprogrammable by technicians or manufacturing engineers rather than robot programming experts. In this thesis we propose a high-level natural language framework for interacting with industrial robots through an instructional programming environment for the user. The ultimate goal of this thesis is to bring robot programming to a stage where it is as easy as working together with a colleague.In this thesis we mainly address two issues. The first issue is to make interaction with a robot easier and more natural through a multimodal framework. The proposed language architecture makes it possible to manipulate, pick or place objects in a scene through high level commands. Interaction with simple voice commands and gestures enables the manufacturing engineer to focus on the task itself, rather than programming issues of the robot. This approach shifts the focus of industrial robot programming from the coordinate based programming paradigm, which currently dominates the field, to an object based programming scheme.The second issue addressed is a general framework for implementing multimodal interfaces. There have been numerous efforts to implement multimodal interfaces for computers and robots, but there is no general standard framework for developing them. The general framework proposed in this thesis is designed to perform natural language understanding, multimodal integration and semantic analysis with an incremental pipeline and includes a novel multimodal grammar language, which is used for multimodal presentation and semantic meaning generation.robot colleague project
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Sunardi, Mathias I. "Expressive Motion Synthesis for Robot Actors in Robot Theatre". PDXScholar, 2010. https://pdxscholar.library.pdx.edu/open_access_etds/720.
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Lately, personal and entertainment robotics are becoming more and more common. In this thesis, the application of entertainment robots in the context of a Robot Theatre is studied. Specifically, the thesis focuses on the synthesis of expressive movements or animations for the robot performers (Robot Actors). The novel paradigm emerged from computer animation is to represent the motion data as a set of signals. Thus, preprogrammed motion data can be quickly modified using common signal processing techniques such as multiresolution filtering and spectral analysis. However, manual adjustments of the filtering and spectral methods parameters, and good artistic skills are still required to obtain the desired expressions in the resulting animation. Music contains timing, timbre and rhythm information which humans can translate into affect, and express the affect through movement dynamics, such as in dancing. Music data is then assumed to contain affective information which can be expressed in the movements of a robot. In this thesis, music data is used as input signal to generate motion data (Dance) and to modify a sequence of pre-programmed motion data (Scenario) for a custom-made Lynxmotion robot and a KHR-1 robot, respectively. The music data in MIDI format is parsed for timing and melodic information, which are then mapped to joint angle values. Surveys were done to validate the usefulness and contribution of music signals to add expressiveness to the movements of a robot for the Robot Theatre application.
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Larsson, Ida y Jakob Jansson. "Jack the Jumping Robot : Pinion-based springpowered jumping robot". Thesis, KTH, Skolan för industriell teknik och management (ITM), 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-264480.
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This bachelor thesis will demonstrate and explain the building of a jumping robot. This work took place during the Spring semester of 2019 and was finished in May. The scope was to build a foot sized robot that can regulate jumping force and angle, while maintaining the ability to land safely and with its right side up. This thesis required that the robot made use of sensors and microcontrollers. The electronics used for this robot was an Arduino UNO, an IMU and several servos. The code behind the jump was based on the switch case statement model. Jack was built with three subsystems in mind: Energy storage to use for jumping, Decoupling for releasing a variable amount stored energy quickly and Suspension for reducing impact on landing and to prevent tipping. The work resulted in a robot who could jump 6.5% of its body length, regulate jump power and land on its feet. In conclusion, even though some of the subsystems were successful, our model of an jumping robot is insufficient due to its low jump height.Detta kandidatexamensarbete redovisar planeringen och byggandet av en robot som kan hoppa. Arbetet varade under vårterminen 2019 och slutfördes i maj. Arbetet krävde att roboten skulle använda sig av sensorer och mikroprocesser. Elektroniken som användes i arbetet var en Arduino UNO, en IMU och ett flertal servo motorer. Koden bakom hoppet baserades på switch case statementmodellen. Jack är byggd med tre delsystem åtanke: Energilagring för hoppet, Avkoppling för att avlösa en varierande mängd lagrad energi snabbt och Dämpning för att reducera stötar vid landning och för att förhindra att roboten välter. Arbetet resulterade i en robot som kan hoppa 6.5% av sin längd, regulera hoppkraften och landa utan att välta. Vi kom fram till, även om vissa delsystem var lyckade, att vår modell av en hoppande robot inte är tillräcklig på grund av sin låga hopphöjd.
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Hoffmann, David. "Navigace mobilního robotu B2 ve venkovním prostředí". Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2019. http://www.nusl.cz/ntk/nusl-399412.
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This master’s thesis deals with the navigation of a mobile robot that uses the ROS framework. The aim is to improve the ability of the existing B2 robot to move autonomously outdoors. The theoretical part contains a description of the navigation core, which consists of the move_base library and the packages used for planning. The practical part describe the aws of the existing solution, the design and implementation of changes and the results of subsequent testing in the urban park environment.
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Walker, Tim. "Robley Te Ropere, 1840-1930 /". Wellington, N.Z. : New Zealand Electronic Text Centre, 2007. http://www.nzetc.org/tm/scholarly/tei-WalRobl.html.
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Thesis (M.A.--Art History)--University of Auckland.Title from title screen (viewed on 18 June 2009). Creation of machine-readable version: Aptara. Conversion to TEI.2-conformant markup: Samantha Callaghan. Creation of digital images: Aptara.
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Eriksson, Jonas, Sven Lindqvist, Erik Lundquist, Michael Raun, Martin Skande y Daniel Skarp. "The Balancing Robot Challenge – To Balance a Two-Wheeled Robot". Thesis, KTH, Maskinkonstruktion (Inst.), 2012. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-102062.
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Denna rapport behandlar framtagningen av en autonom robot, som balanserandes på två hjul, dels skall kunna stå stilla och bevara sin position, samt även kunna förflytta sig en given sträcka, läsa av en mållinje, och därefter återigen fixera sin position. Med i rapporten finns även utförliga beskrivningar av, och beräkningar vid implementation av sensorer och dess filter, reglersystem, motordrivkretsar, samt konstruktionsanvisningar som är nödvändiga vid utformning av en funktionsduglig prototyp.This paper describes the process of developing an autonomous robot, which balancing on two wheels is able to stand still and keep its position, as well as being able to move a given distance, read a finish line, and then again fix its position. The paper also includes detailed descriptions of calculations concerning the implementation of sensors and their filters, control systems, motor drive circuits, and design attributes that are required when building an operational prototype.
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Boberg, Arvid. "Virtual lead-through robot programming : Programming virtual robot by demonstration". Thesis, Högskolan i Skövde, Institutionen för ingenjörsvetenskap, 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:his:diva-11403.
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This report describes the development of an application which allows a user to program a robot in a virtual environment by the use of hand motions and gestures. The application is inspired by the use of robot lead-through programming which is an easy and hands-on approach for programming robots, but instead of performing it online which creates loss in productivity the strength from offline programming where the user operates in a virtual environment is used as well. Thus, this is a method which saves on the economy and prevents contamination of the environment. To convey hand gesture information into the application which will be implemented for RobotStudio, a Kinect sensor is used for entering the data into the virtual environment. Similar work has been performed before where, by using hand movements, a physical robot’s movement can be manipulated, but for virtual robots not so much. The results could simplify the process of programming robots and supports the work towards Human-Robot Collaboration as it allows people to interact and communicate with robots, a major focus of this work. The application was developed in the programming language C# and has two different functions that interact with each other, one for the Kinect and its tracking and the other for installing the application in RobotStudio and implementing the calculated data into the robot. The Kinect’s functionality is utilized through three simple hand gestures to jog and create targets for the robot: open, closed and “lasso”. A prototype of this application was completed which through motions allowed the user to teach a virtual robot desired tasks by moving it to different positions and saving them by doing hand gestures. The prototype could be applied to both one-armed robots as well as to a two-armed robot such as ABB’s YuMi. The robot's orientation while running was too complicated to be developed and implemented in time and became the application's main bottleneck, but remained as one of several other suggestions for further work in this project.
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Ali, Muhammad. "Contribution to decisional human-robot interaction: towards collaborative robot companions". Phd thesis, INSA de Toulouse, 2012. http://tel.archives-ouvertes.fr/tel-00719684.
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L'interaction homme-robot arrive dans une phase intéressante ou la relation entre un homme et un robot est envisage comme 'un partenariat plutôt que comme une simple relation maitre-esclave. Pour que cela devienne une réalité, le robot a besoin de comprendre le comportement humain. Il ne lui suffit pas de réagir de manière appropriée, il lui faut également être socialement proactif. Pour que ce comportement puis être mise en pratique le roboticien doit s'inspirer de la littérature déjà riche en sciences sociocognitives chez l'homme. Dans ce travail, nous allons identifier les éléments clés d'une telle interaction dans le contexte d'une tâche commune, avec un accent particulier sur la façon dont l'homme doit collaborer pour réaliser avec succès une action commune. Nous allons montrer l'application de ces éléments au cas un système robotique afin d'enrichir les interactions sociales homme-robot pour la prise de décision. A cet égard, une contribution a la gestion du but de haut niveau de robot et le comportement proactif est montre. La description d'un modèle décisionnel d'collaboration pour une tâche collaboratif avec l'humain est donnée. Ainsi, l'étude de l'interaction homme robot montre l'intéret de bien choisir le moment d'une action de communication lors des activités conjointes avec l'humain.
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Ali, Muhammad. "Contributions to decisional human-robot interaction : towards collaborative robot companions". Thesis, Toulouse, INSA, 2012. http://www.theses.fr/2012ISAT0003/document.
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L'interaction homme-robot arrive dans une phase intéressante ou la relation entre un homme et un robot est envisage comme 'un partenariat plutôt que comme une simple relation maitre-esclave. Pour que cela devienne une réalité, le robot a besoin de comprendre le comportement humain. Il ne lui suffit pas de réagir de manière appropriée, il lui faut également être socialement proactif. Pour que ce comportement puis être mise en pratique le roboticien doit s'inspirer de la littérature déjà riche en sciences sociocognitives chez l'homme. Dans ce travail, nous allons identifier les éléments clés d'une telle interaction dans le contexte d'une tâche commune, avec un accent particulier sur la façon dont l'homme doit collaborer pour réaliser avec succès une action commune. Nous allons montrer l'application de ces éléments au cas un système robotique afin d'enrichir les interactions sociales homme-robot pour la prise de décision. A cet égard, une contribution a la gestion du but de haut niveau de robot et le comportement proactif est montre. La description d'un modèle décisionnel d'collaboration pour une tâche collaboratif avec l'humain est donnée. Ainsi, l'étude de l'interaction homme robot montre l'intéret de bien choisir le moment d'une action de communication lors des activités conjointes avec l'humainHuman Robot Interaction is entering into the interesting phase where the relationship with a robot is envisioned more as one of companionship with the human partner than a mere master-slave relationship. For this to become a reality, the robot needs to understand human behavior and not only react appropriately but also be socially proactive. A Companion Robot will also need to collaborate with the human in his daily life and will require a reasoning mechanism to manage thecollaboration and also handle the uncertainty in the human intention to engage and collaborate. In this work, we will identify key elements of such interaction in the context of a collaborative activity, with special focus on how humans successfully collaborate to achieve a joint action. We will show application of these elements in a robotic system to enrich its social human robot interaction aspect of decision making. In this respect, we provide a contribution to managing robot high-level goals and proactive behavior and a description of a coactivity decision model for collaborative human robot task. Also, a HRI user study demonstrates the importance of timing a verbal communication in a proactive human robot joint action
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Kuba, Gabriel. "Návrh projektu pracoviště s kolaborativním robotem v kontextu Průmyslu 4.0". Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2019. http://www.nusl.cz/ntk/nusl-401513.
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The diploma thesis is focused on Industry 4.0, where all essential elements of Industry 4.0 are gradually being discussed. This thesis presents the collaborative robots and their specifications are described and then the market for these robots is depicted. Subsequently, the robot cell is designed with collaborative robots ABB Yumi to serve the educational purposes. This created robotic cell is displayed exemplary role. In the last part of the thesis a risk analysis is created for this robotized workplace. This entire Risk Analysis Protocol is attached.
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Hlaváček, Rudolf. "Návrh školního robotu". Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2017. http://www.nusl.cz/ntk/nusl-319929.
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This thesis deals with the design of a low-cost robot used for educational purposes at robotic group Robotárna and at the secondary technical school SPŠ and VOŠ Brno, Sokolská, příspěvková organizace. The main intent of the robot is in teaching students programming. The research part deals with collaborational robots phenomenon and their practical usage in present production plants. The thesis covers the mechanical design of the robot, calculations of the required torques for each joints, design of the robot gripper and also a theoretical solution to robot control.
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Araujo, Jaqueline de. "Influência da salinidade na incubação e larvicultura do robalo-peva Centropomus parallelus (POEY, 1860)". Florianópolis, SC, 2000. http://repositorio.ufsc.br/xmlui/handle/123456789/79231.
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Dissertação (mestrado) - Universidade Federal de Santa Catarina, Centro de Ciências Agrárias.Made available in DSpace on 2012-10-18T00:47:22Z (GMT). No. of bitstreams: 0
O presente estudo avaliou o efeito da salinidade sobre a eclosão, sobrevivência, insuflação da bexiga gasosa e crescimento do robalo Peva, Cetropomus parallelus Poye, 1860. No primeiro experimento avaliou-se a taxa de eclosão dos ovos incubados nas salinidades de 15, 20, 25, 30, 35 g.L-1. Os melhores resultados foram obtidos nas salinidades de 35, 30 e 15 g.L-1 respectivamente. Neste experimento, observou-se a presença de larvas com deformidades, em todas as salinidade. No segundo experimento, as larvas do robalo-peva foram cultivadas por 16 dias nas salinidades de 15, 25 e 35 g.L-1, recebendo como alimento o rotífero, Brachionus rotundiformis (25 g.L-1) enriquecido com a microalga Nannochloropsis oculata (0,5-1,0x106 células. mL-1). Neste caso foram avaliados sobrevivência, insuflação da bexiga gasosa e crescimento. Os resultados de sobrevivência apresentaram diferença significativa (P<0,05). Em ordem os melhores resultados foram nas salinidades 25 (23,5%), 15 (19,8%) e 35 g.L-1 (13,8%). Para insuflação da bexiga gasosa, os tratamentos com salinidade 15 e 25 g.L-1 não diferiram significativamente (P<0,05), sendo as taxas de insuflação de 87,5 e 84,2% respectivamente. Estes porém, foram significativamente distintos, do tratamento cuja salinidade foi de 35 g.L-1, onde a taxa de insuflação foi de 35,8%. Para o crescimento não se observou diferença significativa entre os tratamentos.
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Garcia, Alexandre Sachsida. "Influência do nível de proteína da dieta no crescimento e composição corporal de juvenis do robalo-peva Centropomus parallelus Poey, 1860". Florianópolis, SC, 2001. http://repositorio.ufsc.br/xmlui/handle/123456789/82042.
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Dissertação (mestrado) - Universidade Federal de Santa Catarina, Centro de Ciências Agrárias. Curso de Pós-Graduação em AquiculturaMade available in DSpace on 2012-10-19T10:43:42Z (GMT). No. of bitstreams: 0
O presente estudo teve o objetivo de avaliar o desempenho de quatro dietas com níveis crescentes de proteína bruta (43, 47, 52 e 57% PB) no crescimento e composição corporal de juvenis de robalo-peva Centropomus parallelus. Cada dieta foi testada em três réplicas, sendo fornecida para 30 alevinos por tanque (total 90) recém desmamados (peso 0,21 ± 0,02 g). As dietas foram fornecidas em quatro porções diárias até a aparente saciedade. Foram utilizados tanques cilíndricos (120 L) equipados com sistema de aeração e aquecedores controlados por termostato (25 ± 0,5oC). O oxigênio dissolvido (4,5 a 6,5 mg/L), a salinidade (32 a 35), o pH (7,7 a 8,0) e a concentração de nitrito (< 0,1 mg/L) oscilaram de modo igual entre os tratamentos, entretanto, a concentração de amônia total nos tanques com dietas de 43% PB (0,25 mg/L) e 47% PB (0,25 mg/L) foram significativamente menores (p<0,05) que nos tanques com dietas de 52% PB (0,52 mg/L) e 57% PB (0,64 mg/L). Ao final de 90 dias os peixes alimentados com ração 47 % PB apresentaram resultados de taxa de crescimento específico (2,68) significativamente inferiores aos tratamentos com 52 e 57% PB a taxa de conversão alimentar (2,4) superior. Por outro lado, a razão de eficiência protéica (0,89) e valor produtivo de proteína (56,5%) não apresentaram diferença significativa em relação aos demais tratamentos. Entre os tratamentos com níveis de proteína de 43, 52 e 57% PB os parâmetros ganho de peso (2,7; 3,13 e 3,4 g), taxa de crescimento específico (2,9; 3,1 e 3,2), taxa de conversão alimentar (2,3; 1,9 e 1,8), razão de eficiência protéica (1,0; 1,0 e 0,96) e o valor e valor produtivo da proteína (59,5; 56,1 e 56,9%), respectivamente, não apresentaram diferenças significativas (p<0,05). Estes resultados indicam que a dieta contendo 43% PB, e relação proteína/energia de 98 mg proteína/Kcal, é a mais recomendada por promover crescimento similar às demais com menor custo e menor comprometimento da qualidade de água.
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Lira, Júnior Gilvan Pais de. "Influência da dieta na reprodução e crescimento do copépode, Apocyclops procerus, e seu potencial como alimento na larvicultura do robalo-peva, Centropomus parallelus". Florianópolis, SC, 2002. http://repositorio.ufsc.br/xmlui/handle/123456789/83612.
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Dissertação (mestrado) - Universidade Federal de Santa Catarina, Centro de Ciências Agrárias. Programa de Pós-Graduação em Aqüicultura.Made available in DSpace on 2012-10-20T01:39:40Z (GMT). No. of bitstreams: 1 189594.pdf: 508136 bytes, checksum: f37861ff23cae487f181e975df82144c (MD5)
Os copépodes têm demonstrado ser um alimento vivo bastante eficiente em larviculturas de peixes marinhos. O copépode Apocyclops procerus (Herbst, 1955) pertence à Ordem Cyclopoida e ocorre em regiões tropicais e subtropicais, principalmente em águas salobras. Este trabalho procura avaliar, através de alguns aspectos da biologia reprodutiva, o potencial de cultivo dessa espécie submetida a diferentes dietas, e sua aplicação na larvicultura do robalo-peva (Centropomus parallelus). Para os cultivos experimentais foram testadas três dietas algais, oferecidas aos copépodes em quantidades equivalentes: Nannochloropsis oculata e Isochrysis sp. T-ISO, e uma mistura de N. oculata + Isochrysis sp. T-ISO. Todas as dietas proporcionaram a produção de ovos e o desenvolvimento dos náuplios até a fase adulta. Embora não tenha sido encontrada diferença significativa na maioria dos parâmetros reprodutivos, Isochrysis demonstrou ser a melhor dieta para o cultivo dessa espécie, pois dentro deste tratamento houve uma maior percentagem de fêmeas ovígeras e de náuplios que se desenvolveram até a fase adulta. A utilização dos copépodes adultos no regime alimentar das larvas de robalo-peva foi comparada com duas dietas tradicionais: rotífero, Brachionus rotundiformis e Artemia franciscana. O tratamento com Artemia foi o que proporcionou maior ganho de peso e fator de condição. As larvas alimentadas com copépodes tiveram crescimento e sobrevivência comparáveis aos demais tratamentos, demonstrando a viabilidade do seu uso na larvicultura do robalo-peva.
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Merchut, G. Addison. "Frankenstein's robot manipulator". Thesis, Northern Illinois University, 2013. http://pqdtopen.proquest.com/#viewpdf?dispub=1540606.
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The goal of this project was to design, build, program, upgrade, and remotely control an existing industrial-grade robotic manipulator on a budget that was equal to a graduate student's salary.
Inverse kinematic equations were developed to model the CRS arm using Denavit-Hartenberg convention. After converting these equations into a system of Python code, the equations were verified via graphical simulation.
The CRS arm's obsolete motor driver box was completely removed and replaced with cutting-edge, low-cost microcontrollers. The wiring, mechanics, and controls for the five degrees of freedom (DOF) were reverse engineered based on very limited datasheets, including the arm's motors, brakes, encoder pin-outs, gripper, and fixed global reference frame movement.
The microcontrollers were then programmed in C/C++ to allow a user to control every electrical and mechanical aspect of the arm. The kinematic equations were implemented on a Python server, which commands how each joint in the robotic arm must move to reach a desired point in space. The user interface was developed in conjunction with Evan Boldt to allow for remote control of the robotic arm and monitoring through webcams, which includes twisting and tilting a tablet.
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Jones, Doreen M. "Robot wars simulation". Monterey, Calif. : Springfield, Va. : Naval Postgraduate School ; Available from National Technical Information Service, 1997. http://handle.dtic.mil/100.2/ADA333463.
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Askew, Andrew P. "Robot survival strategies". Thesis, University of Sheffield, 2010. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.555640.
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A fundamental question in biology is how cooperation and especially altruism evolves in nature. There is debate as to whether altruism evolves by individual or group selection and if kin selection is the key explanation. Recent research in evolutionary robotics has provided some evidence that altruism emerges in populations of evolving robot controllers. A set of experiments is presented here that evolve heterogeneous, but related, populations of simulated abstract robot controllers with a biologically inspired implicit fitness function based simply on 'eating' enough to survive. In predator-prey simulations, an internal fitness function that is implicit in the selection of individuals is implemented. Predators are paired in a series of trials where they interact to 'consume' the prey and those that survive are selected to reproduce and proceed to the next generation. When individual level selection is implemented, true artificial altruism emerges naturally, where an individual sacrifices its own 'life' so as to allow a related robot to survive. The altruistic trait evolves in situations where there is a high probability that neither of a pair would be successful if both attempt to survive. When situated communication is available, it is used by a robot to claim the prey once located, signalling to the other robot to behave altruistically. Under 'breeding pair' level selection where a pair of robots are required to survive together, they cooperate to ensure that both are successful and when situated communication is available, it is used by the robots to signal that the prey has been located, increasing the amount of collaboration in the population. In selecting for competition, where the robots are not allowed to survive as a pair, in addition to competing, the robots also act altruistically to achieve the goal of only one survivor.
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Kirby, Rachel. "Social Robot Navigation". Research Showcase @ CMU, 2010. http://repository.cmu.edu/dissertations/552.
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Mobile robots that encounter people on a regular basis must react to them in some way. While traditional robot control algorithms treat all unexpected sensor readings as objects to be avoided, we argue that robots that operate around people should react socially to those people, following the same social conventions that people use around each other.
This thesis presents our COMPANION framework: a Constraint-Optimizing Method for Person–Acceptable NavigatION. COMPANION is a generalized framework for representing social conventions as components of a constraint optimization problem, which is used for path planning and navigation. Social conventions, such as personal space and tending to the right, are described as mathematical cost functions that can be used by an optimal path planner. These social conventions are combined with more traditional constraints, such as minimizing distance, in a flexible way, so that additional constraints can be added easily.
We present a set of constraints that specify the social task of traveling around people. We explore the implementation of this task first in simulation, where we demonstrate a robot’s behavior in a wide variety of scenarios. We also detail how a robot’s behavior can be changed by using different relative weights between the constraints or by using constraints representing different sociocultural conventions. We then explore the specific case of passing a person in a hallway, using the robot Grace. Through a user study, we show that people interpret the robot’s behavior according to human social norms, and also that people ascribe different personalities to the robot depending on its level of social behavior.
In addition, we present an extension of the COMPANION framework that is able to represent joint tasks between the robot and a person. We identify the constraints necessary to represent the task of having a robot escort a person while traveling side-by-side. In simulation, we show the capability of this representation to produce behaviors such as speeding up or slowing down to travel together around corners, as well as complex maneuvers to travel through narrow chokepoints and return to a side-by-side formation.
Finally, we present a newly designed robot, Companion, that is intended as a platform for general social human–robot research. Companion is a holonomic robot, able to move sideways without turning first, which we believe is an important social capability. We detail the design and capabilities of this new platform.
As a whole, this thesis demonstrates both a need for, and an implementation and evaluation of, robots that navigate around people according to social norms.
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Hart, Justin Wildrick. "Robot Self-Modeling". Thesis, Yale University, 2015. http://pqdtopen.proquest.com/#viewpdf?dispub=3582284.
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Traditionally, models of a robot's kinematics and sensors have been provided by designers through manual processes. Such models are used for sensorimotor tasks, such as manipulation and stereo vision. However, these techniques often yield static models based on one-time calibrations or ideal engineering drawings; models that often fail to represent the actual hardware, or in which individual unimodal models, such as those describing kinematics and vision, may disagree with each other.
Humans, on the other hand, are not so limited. One of the earliest forms of self-knowledge learned during infancy is knowledge of the body and senses. Infants learn about their bodies and senses through the experience of using them in conjunction with each other. Inspired by this early form of self-awareness, the research presented in this thesis attempts to enable robots to learn unified models of themselves through data sampled during operation. In the presented experiments, an upper torso humanoid robot, Nico, creates a highly-accurate self-representation through data sampled by its sensors while it operates. The power of this model is demonstrated through a novel robot vision task in which the robot infers the visual perspective representing reflections in a mirror by watching its own motion reflected therein.
In order to construct this self-model, the robot first infers the kinematic parameters describing its arm. This is first demonstrated using an external motion capture system, then implemented in the robot's stereo vision system. In a process inspired by infant development, the robot then mutually refines its kinematic and stereo vision calibrations, using its kinematic structure as the invariant against which the system is calibrated. The product of this procedure is a very precise mutual calibration between these two, traditionally separate, models, producing a single, unified self-model.
The robot then uses this self-model to perform a unique vision task. Knowledge of its body and senses enable the robot to infer the position of a mirror placed in its environment. From this, an estimate of the visual perspective describing reflections in the mirror is computed, which is subsequently refined over the expected position of images of the robot's end-effector as reflected in the mirror, and their real-world, imaged counterparts. The computed visual perspective enables the robot to use the mirror as an instrument for spacial reasoning, by viewing the world from its perspective. This test utilizes knowledge that the robot has inferred about itself through experience, and approximates tests of mirror use that are used as a benchmark of self-awareness in human infants and animals.
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Owens, John Patrick. "Industrial robot simulation". Thesis, University of Newcastle Upon Tyne, 1990. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.308238.
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Heikkinen, M. (Markus). "Multi-robot cooperation". Bachelor's thesis, University of Oulu, 2019. http://jultika.oulu.fi/Record/nbnfioulu-201905181836.
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Abstract. This bachelor’s thesis familiarizes with multi-robot cooperation. The main interest is in two robot manipulators. This thesis is a literature review. The operation of the robot and the phenomena that act on them while in operation are investigated from kinematics and command architecture point of view.
This thesis is based on manuals from two KUKA robots from University of Oulu, so in the future the use and understanding of their cooperation would be easier.
The results gave good understanding of robot software calculations for trajectories and geometrics and what other has to consider when controlling a multi-robot system.
This is a good base for deeper theoretical research for robot system software and practical testing.Usean robotin yhteiskäyttö. Tiivistelmä. Tässä opinnäytetyössä perehdytään usean robotin yhteiskäyttöön, jossa mielenkiinnon kohteena on kahden robottikäden yhteistoiminta. Työ on kirjallisuuskatsaus. Robottien toimintaa ja niihin vaikuttavia asioita tarkastellaan niin kinematiikan, kuin ohjelmisto- ja käskyarkkitehtuurin kautta.
Työn pohjana käytettiin yliopistolla olevien KUKA robottikäsien oppaita, jotta jatkossa niiden yhteiskäyttö olisi helpommin ymmärrettävissä.
Työn tulokset avasivat sitä, miten robottien ohjelmisto ohjaa ja laskee tarvittavat liikeradat ja geometriat ja mitä kaikkea usean robotin ohjauksessa pitää ottaa huomioon.
Tämä on hyvä pohja syvemmälle teoreettiselle robottiohjelmistolle tai käytännön testaamiselle.
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Cheng, Sheri A. (Sheri Ann) 1977. "Mobile robot relocation". Thesis, Massachusetts Institute of Technology, 2001. http://hdl.handle.net/1721.1/91353.
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