7,383 research outputs found
Vision system implementation on Bioloid robot
Tato bakalářská práce se zabĂ˝vá implementacĂ systĂ©mu vidÄ›nĂ na dvounohĂ˝ humanoid robot ze stavebnice Bioloid. SystĂ©m vidÄ›nĂ je sloĹľen z bezdrátovĂ© kamery, která je namontovaná na robotovi a z Ĺ™ĂdĂcĂho poÄŤĂtaÄŤe. CĂlem tĂ©to práce bylo zkonstruovat a oĹľivit humanoidnĂho robota, vytvoĹ™it systĂ©m vidÄ›nĂ a bezdrátovĂ˝ komunikaÄŤnĂ systĂ©m. V centru je robot, kterĂ˝ pomocĂ bezdrátovĂ© komunikace souÄŤasnÄ› odesĂlá i pĹ™ijĂmá Ăşdaje. Tento systĂ©m nabĂzĂ skvÄ›lĂ© schopnosti na dalšà rozšĂĹ™enĂ.This bachelor's thesis deals with vision system implementation on bipedal humanoid robot made of the Bioloid assembly kit. The vision system is composed of a wireless camera, mounted on the robot and the controlling computer. The goal of this work was to construct and vitalize the humanoid robot, to establish the vision system and to create a wireless communication system. The center of this system is the robot, which wirelessly sends and receives data simultaneously. This system offers great capabilities for further expansions.
Decentralized event-triggered control over wireless sensor/actuator networks
In recent years we have witnessed a move of the major industrial automation
providers into the wireless domain. While most of these companies already offer
wireless products for measurement and monitoring purposes, the ultimate goal is
to be able to close feedback loops over wireless networks interconnecting
sensors, computation devices, and actuators. In this paper we present a
decentralized event-triggered implementation, over sensor/actuator networks, of
centralized nonlinear controllers. Event-triggered control has been recently
proposed as an alternative to the more traditional periodic execution of
control tasks. In a typical event-triggered implementation, the control signals
are kept constant until the violation of a condition on the state of the plant
triggers the re-computation of the control signals. The possibility of reducing
the number of re-computations, and thus of transmissions, while guaranteeing
desired levels of performance makes event-triggered control very appealing in
the context of sensor/actuator networks. In these systems the communication
network is a shared resource and event-triggered implementations of control
laws offer a flexible way to reduce network utilization. Moreover reducing the
number of times that a feedback control law is executed implies a reduction in
transmissions and thus a reduction in energy expenditures of battery powered
wireless sensor nodes.Comment: 13 pages, 3 figures, journal submissio
Building Blocks for Adaptive Modular Sensing Systems
This thesis contributes towards the development of systems and strategies by which sensor and actuator components can be combined to produce flexible and robust sensor systems for a given application. A set of intelligent modular blocks (building blocks) have been created from which composite sensors (made up of multiple sensor and actuator components) can be rapidly reconfigured for the construction of Adaptive Modular Sensing Systems. The composite systems are expected to prove useful in several application domains including industrial control, inspection systems, mobile robotics, monitoring and data acquisition. The intelligent building blocks, referred to as transducer interface modules, contain embedded knowledge about their capabilities and how they can interact with other modules. These modules encapsulate a general purpose modular hardware architecture that provides an interface between the sensors, the actuators, and the communication medium. The geometry of each transducer interface module is a cube. A connector mechanism implemented on each face of the module enables physical connection of the modules. Each module provides a core functionality and can be connected to other modules to form more capable composite sensors. Once the modules are combined, the capabilities (e.g., range, resolution, sample rate, etc.) and functionality (e.g., temperature measurement) of the composite sensor is determined and communicated to other sensors in the enviornment. For maximum flexibility, a distributed software architecture is executed on the blocks to enable automatic acquisition of configuration-specific algorithms. This logical algorithm imparts a collective identity to the composite group, and processes data based on the capabilities and functionalities of the transducers present in the system. A knowledge representation scheme allows each module in the composite group to store and communicate its functionality and capabilities to other connected modules in the system
CERN Storage Systems for Large-Scale Wireless
The project aims at evaluating the use of CERN computing infrastructure for next generation sensor networks data analysis. The proposed system allows the simulation of a large-scale sensor array for traffic analysis, streaming data to CERN storage systems in an efficient way. The data are made available for offline and quasi-online analysis, enabling both long term planning and fast reaction on the environment
Embedded Virtual Machines for Robust Wireless Control Systems
Embedded wireless networks have largely focused on open loop sensing and monitoring. To address actuation in closed loop wireless control systems there is a strong need to re-think the communication architectures and protocols for reliability, coordination and control. As the links, nodes and topology of wireless systems are inherently unreliable, such time-critical and safety-critical applications require programming abstractions where the tasks are assigned to the sensors, actuators and controllers as a single component rather than statically mapping a set of tasks to a specific physical node at design time. To this end, we introduce the Embedded Virtual Machine (EVM), a powerful and flexible programming abstraction where virtual components and their properties are maintained across node boundaries. In the context of process and discrete control, an EVM is the distributed runtime system that dynamically selects primary-backup sets of controllers to guarantee QoS given spatial and temporal constraints of the underlying wireless network. The EVM architecture defines explicit mechanisms for control, data and fault communication within the virtual component. EVM-based algorithms introduce new capabilities such as predictable outcomes and provably minimal graceful degradation during sensor/actuator failure, adaptation to mode changes and runtime optimization of resource consumption. Through the design of a natural gas process plant hardware-in-loop simulation we aim to demonstrate the preliminary capabilities of EVM-based wireless networks
MONICA in Hamburg: Towards Large-Scale IoT Deployments in a Smart City
Modern cities and metropolitan areas all over the world face new management
challenges in the 21st century primarily due to increasing demands on living
standards by the urban population. These challenges range from climate change,
pollution, transportation, and citizen engagement, to urban planning, and
security threats. The primary goal of a Smart City is to counteract these
problems and mitigate their effects by means of modern ICT to improve urban
administration and infrastructure. Key ideas are to utilise network
communication to inter-connect public authorities; but also to deploy and
integrate numerous sensors and actuators throughout the city infrastructure -
which is also widely known as the Internet of Things (IoT). Thus, IoT
technologies will be an integral part and key enabler to achieve many
objectives of the Smart City vision.
The contributions of this paper are as follows. We first examine a number of
IoT platforms, technologies and network standards that can help to foster a
Smart City environment. Second, we introduce the EU project MONICA which aims
for demonstration of large-scale IoT deployments at public, inner-city events
and give an overview on its IoT platform architecture. And third, we provide a
case-study report on SmartCity activities by the City of Hamburg and provide
insights on recent (on-going) field tests of a vertically integrated,
end-to-end IoT sensor application.Comment: 6 page
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