Dynamic sensor planning with stereo for model identification on a mobile platform

This paper presents an approach to sensor planning for simultaneous pose estimation and model identification of a moving object using a stereo camera sensor mounted on a mobile base. For a given database of object models, we consider the problem of identifying an object known to belong to the database and where to move next should the object not be easily identifiable from the initial viewpoint. No constraints on the motion of the object nor the robot itself are assumed, which is an improvement on previous methods. Sensor planning is based on the selection of the control action that optimizes a cost metric based on information gain. Experimental results from the implementation of the method on a two-wheeled nonholonomic robot are presented to illustrate and validate the method

Viewfinder: final activity report

The VIEW-FINDER project (2006-2009) is an 'Advanced Robotics' project that seeks to apply a semi-autonomous robotic system to inspect ground safety in the event of a fire. Its primary aim is to gather data (visual and chemical) in order to assist rescue personnel. A base station combines the gathered information with information retrieved from off-site sources. The project addresses key issues related to map building and reconstruction, interfacing local command information with external sources, human-robot interfaces and semi-autonomous robot navigation. The VIEW-FINDER system is a semi-autonomous; the individual robot-sensors operate autonomously within the limits of the task assigned to them, that is, they will autonomously navigate through and inspect an area. Human operators monitor their operations and send high level task requests as well as low level commands through the interface to any nodes in the entire system. The human interface has to ensure the human supervisor and human interveners are provided a reduced but good and relevant overview of the ground and the robots and human rescue workers therein

Integrated process of images and acceleration measurements for damage detection

The use of mobile robots and UAV to catch unthinkable images together with on-site global automated acceleration measurements easy achievable by wireless sensors, able of remote data transfer, have strongly enhanced the capability of defect and damage evaluation in bridges. A sequential procedure is, here, proposed for damage monitoring and bridge condition assessment based on both: digital image processing for survey and defect evaluation and structural identification based on acceleration measurements. A steel bridge has been simultaneously inspected by UAV to acquire images using visible light, or infrared radiation, and monitored through a wireless sensor network (WSN) measuring structural vibrations. First, image processing has been used to construct a geometrical model and to quantify corrosion extension. Then, the consistent structural model has been updated based on the modal quantities identified using the acceleration measurements acquired by the deployed WSN. © 2017 The Authors. Published by Elsevier Ltd

Next generation space robot

The recent research effort on the next generation space robots is presented. The goals of this research are to develop the fundamental technologies and to acquire the design parameters of the next generation space robot. Visual sensing and perception, dexterous manipulation, man machine interface and artificial intelligence techniques such as task planning are identified as the key technologies

Survey of Visual and Force/Tactile Control of Robots for Physical Interaction in Spain

Sensors provide robotic systems with the information required to perceive the changes that happen in unstructured environments and modify their actions accordingly. The robotic controllers which process and analyze this sensory information are usually based on three types of sensors (visual, force/torque and tactile) which identify the most widespread robotic control strategies: visual servoing control, force control and tactile control. This paper presents a detailed review on the sensor architectures, algorithmic techniques and applications which have been developed by Spanish researchers in order to implement these mono-sensor and multi-sensor controllers which combine several sensors