1,401 research outputs found
Dynamic mapping strategies for interactive art installations: an embodied combined HCI HRI HHI approach
This paper proposes a theoretical framework for dealing with the paradigm of interactivity in new media art, and how the broad use of the term in different research fields can lead to some misunderstandings. The paper addresses a conceptual view on how we can implement interaction in new media art from an embodied approach that unites views from HCI, HRI and HHI. The focus is on an intuitive mapping of a multitude of sensor data and to extend upon this using the paradigm of (1) finite state machines (FSM) to address dynamic mapping strategies, (2) mediality to address aisthesis and (3) embodiment to address valid mapping strategies originated from natural body movements. The theory put forward is illustrated by a case study
Control Architecture For Multi-Robot System
A multiple robot control architecture including a plurality of robotic agricultural machines including a first and second robotic agricultural machine. Each robotic agricultural machine including at least one controller configured to implement a plurality of finite state machines within an individual robot control architecture (IRCA) and a global information module (GIM) communicatively coupled to the IRCA. The GIMs of the first and second robotic agricultural machines being configured to cooperate to cause said first robotic agricultural machine and said second agricultural machine to perform at least one agricultural task
Synthesis of formation control for an aquatic swarm robotics system
Formations are the spatial organization of objects or entities according to some
predefined pattern. They can be found in nature, in social animals such as fish
schools, and insect colonies, where the spontaneous organization into emergent
structures takes place. Formations have a multitude of applications such as in
military and law enforcement scenarios, where they are used to increase operational
performance. The concept is even present in collective sports modalities such as
football, which use formations as a strategy to increase teams efficiency.
Swarm robotics is an approach for the study of multi-robot systems composed
of a large number of simple units, inspired in self-organization in animal societies.
These have the potential to conduct tasks too demanding for a single robot operating alone. When applied to the coordination of such type of systems, formations
allow for a coordinated motion and enable SRS to increase their sensing efficiency
as a whole.
In this dissertation, we present a virtual structure formation control synthesis
for a multi-robot system. Control is synthesized through the use of evolutionary
robotics, from where the desired collective behavior emerges, while displaying key-features such as fault tolerance and robustness. Initial experiments on formation
control synthesis were conducted in simulation environment. We later developed
an inexpensive aquatic robotic platform in order to conduct experiments in real world conditions.
Our results demonstrated that it is possible to synthesize formation control for
a multi-robot system making use of evolutionary robotics. The developed robotic
platform was used in several scientific studies.As formações consistem na organização de objetos ou entidades de acordo com
um padrão pré-definido. Elas podem ser encontradas na natureza, em animais
sociais tais como peixes ou colónias de insetos, onde a organização espontânea
em estruturas se verifica. As formações aplicam-se em diversos contextos, tais
como cenários militares ou de aplicação da lei, onde são utilizadas para aumentar
a performance operacional. O conceito está também presente em desportos coletivos tais como o futebol, onde as formações são utilizadas como estratégia para
aumentar a eficiência das equipas.
Os enxames de robots são uma abordagem para o estudo de sistemas multi-robô
compostos de um grande número de unidades simples, inspirado na organização
de sociedades animais. Estes têm um elevado potencial na resolução de tarefas demasiado complexas para um único robot. Quando aplicadas na coordenação deste
tipo de sistemas, as formações permitem o movimento coordenado e o aumento da
sensibilidade do enxame como um todo.
Nesta dissertação apresentamos a síntese de controlo de formação para um sistema multi-robô. O controlo é sintetizado através do uso de robótica evolucionária,
de onde o comportamento coletivo emerge, demonstrando ainda funcionalidadeschave tais como tolerância a falhas e robustez. As experiências iniciais na síntese de controlo foram realizadas em simulação. Mais tarde foi desenvolvida uma
plataforma robótica para a condução de experiências no mundo real.
Os nossos resultados demonstram que é possível sintetizar controlo de formação
para um sistema multi-robô, utilizando técnicas de robótica evolucionária. A
plataforma desenvolvida foi ainda utilizada em diversos estudos científicos
OPEN ARCHITECTURE PLATFORMS FOR THE CONTROL OF ROBOTIC SYSTEMS AND A PROPOSED REFERENCE ARCHITECTURE MODEL
This paper presents advantages of using open architecture for the real-time control of robot manipulators, parallel kinematics machine tools and other multi-axis machining systems. In order to increase their competitiveness, companies need to follow the global economy requirements. The constant incorporation of new technologies into existing controllers and reduction in the development time and costs are the main objectives. An open architecture control (OAC) concept appears as a solution to deal with these requirements. This article explains the rationale for the development of OAC systems, presents the major international activities which propose various approaches to OACs and a series of controllers that have been developed using this design philosophy at the Lola Institute
Experiments in cooperative manipulation: A system perspective
In addition to cooperative dynamic control, the system incorporates real time vision feedback, a novel programming technique, and a graphical high level user interface. By focusing on the vertical integration problem, not only these subsystems are examined, but also their interfaces and interactions. The control system implements a multi-level hierarchical structure; the techniques developed for operator input, strategic command, and cooperative dynamic control are presented. At the highest level, a mouse-based graphical user interface allows an operator to direct the activities of the system. Strategic command is provided by a table-driven finite state machine; this methodology provides a powerful yet flexible technique for managing the concurrent system interactions. The dynamic controller implements object impedance control; an extension of Nevill Hogan's impedance control concept to cooperative arm manipulation of a single object. Experimental results are presented, showing the system locating and identifying a moving object catching it, and performing a simple cooperative assembly. Results from dynamic control experiments are also presented, showing the controller's excellent dynamic trajectory tracking performance, while also permitting control of environmental contact force
Robot Autonomy for Surgery
Autonomous surgery involves having surgical tasks performed by a robot
operating under its own will, with partial or no human involvement. There are
several important advantages of automation in surgery, which include increasing
precision of care due to sub-millimeter robot control, real-time utilization of
biosignals for interventional care, improvements to surgical efficiency and
execution, and computer-aided guidance under various medical imaging and
sensing modalities. While these methods may displace some tasks of surgical
teams and individual surgeons, they also present new capabilities in
interventions that are too difficult or go beyond the skills of a human. In
this chapter, we provide an overview of robot autonomy in commercial use and in
research, and present some of the challenges faced in developing autonomous
surgical robots
- …