354 research outputs found
Ein Beispiel zur Entwicklung kooperierender mobiler Roboter: Konstruktives Design und Steuerungsentwurf
In dieser Arbeit werden die wesentlichen Ergebnisse zur Konstruktion des RoboCup-Small-Size-Roboters LUKAS und des Aufbaus der koordinierenden Mastersoftware XBase vorgestellt.
Der dreirädrige Roboter setzt ein hierarchisches Konstruktionskonzept um, welches hohe Zuverlässigkeit, Flexibilität und Robustheit durch technische Funktionsintegration einer minimalen Anzahl von Bauteilen realisiert. Spezielle Material- und Strukturlösungen finden sich im Polyamid-Chassis, im motorintegrierenden Dribbler und im energieeffizienten Schussmechanismus. Nach Analyse der kinematischen und dynamischen Zusammenhänge konnte für den Roboter eine Reglerarchitektur entwickelt werden, die unter Berücksichtigung von Radschlupf und Schwerpunktverlagerung die omnidirektionale Manövrierbarkeit und Bewegungspräzision gestattet.
Die Mastersoftware XBase kann sowohl als Multi-Roboter-System unter der Kontrolle einer Verhaltenssteuerung, wie auch als verteiltes Multi-Agenten-System mit mehreren parallelen Verhaltenssystemen fungieren. Stabile Bildraten der Bildverarbeitung und geringer Berechnungsaufwand werden durch ressourcenschonende Operationen garantiert. Ein geeigneter Trainingseinstieg wurde mit Formationsvarianten zurDieser Publikation liegt die Arbeit mit dem Titel „Ein Beitrag zur Entwicklung kooperierender mobiler Roboter“ [urn:nbn:de:gbv:ilm1-2009000169] zu Grunde, die der Fakultät für Maschinenbau der Technischen Universität Ilmenau als Dissertation vorgelegen hat
Ein Beitrag zur Entwicklung kooperierender mobiler Roboter
This work presents the main outcomes of the design of LUKAS, a robot in the
RoboCup Small Size League, and of the development of a structure for the
coordinating software, XBase. The fact that both compactness and the
necessary mass-power ratio of the robot were achieved is mainly due to the
configuration: three wheels and an orthogonal axle. The polyamide chassis,
the backspin engine integrated into the dribbler, and the energy-efficient
goal shooting mechanism, all make use of special ideas for material and
structure. It has omni-directional Stanford wheels which guarantee smooth
running, traction and stability on a steady basis. The design is basically
sandwich construction. This is a means of using the integration of
technical functions and a minimal number of components to ensure high
reliability, flexibility and robustness. It was possible to develop control
architecture for the robot on the basis of kinematic and dynamic
mathematical analysis so that omni-directional manoeuvring and precise
positioning are permitted because wheel slippage and changes in the centre
of gravity are registered. The master software, XBase, has been developed
to combine a user-friendly man-machine interface with a toolbox, to enable
all the robots’ systems to be coordinated and moving objects in the field
to be detected by customised image processing. A look-up table with
maximum-likelihood colour classification is one of the means by which
stable picture rates and economical computation are achieved. Others are
picture segmentation with line coincidence procedure and
resource-protective operations. For a group of robots, suitable training
exercises have been devised using different formations so that they can be
controlled in a coordinated way. This model for the formation permits
transition, by individual release of parameters, from a rigid to a flexible
network. The flexibility and adaptability of the robot group is
demonstrated using three types of formation, bloc, line and rout. The XBase
system devised will run either as a multi-robot system managed by a single
behaviour control system, or as a multi-agent combination managed by
several parallel behaviour controls.In dieser Arbeit werden die wesentlichen Ergebnisse zur Konstruktion des
RoboCup-Small-Size-Roboters LUKAS und des Aufbaus der koordinierenden
Mastersoftware XBase vorgestellt. Die erreichte Kompaktheit und das
notwendige Masse-Leistungs-Verhältnis des Roboters beruhen im Wesentlichen
auf der orthogonalen Achskonfiguration. Spezielle Material- und
Strukturlösungen für Leichtbau und Bauraumnutzung finden sich im
Polyamid-Chassis, im motorintegrierenden Dribbler und im energieeffizienten
Schussmechanismus. Im Einsatz sind omnidirektionale Räder mit solider
Rundlauf-, Traktions- und Stabilitätseigenschaft. Der dreirädrige Roboter
setzt ein hierarchisches Konstruktionskonzept um, welches hohe
Zuverlässigkeit, Flexibilität und Robustheit in verstärktem Maße durch
technische Funktionsintegration einer minimalen Anzahl von Bauteilen
realisiert. Nach Analyse der kinematischen und dynamischen Zusammenhänge
konnte fĂĽr den Roboter eine Reglerarchitektur entwickelt werden, die unter
BerĂĽcksichtigung von Radschlupf und Schwerpunktverlagerung die
omnidirektionale Manövrierbarkeit und Bewegungspräzision gestattet. Die
weiterentwickelte Mastersoftware XBase verbindet eine modifizierten
Bildverarbeitung zur Detektierung der Roboter und eine anwenderfreundliche
Mensch-Maschine-Schnittstelle mit dem Instrument zur Roboterkoordinierung.
Stabile Bildraten und geringer Berechnungsaufwand werden durch die
Verwendung einer Look-Up-Tabelle zur
Maximum-Likelihood-Farbklassifizierung, Bildsegmentierung mit
Zeilenkoinzidenzverfahren und ressourcenschonende Operationen garantiert.
Ein geeigneter Trainingseinstieg wurde mit verschiedenen
Formationsvarianten zur koordinierten Kontrolle einer Robotergruppe
gefunden. Das Modell gestattet durch individuelle Freigabe von
Freiheitsgraden einen Ăśbergang vom starren zum flexiblen Verband. Anhand
der Beispielformationen Block, Reihe und Rotte ist die Flexibilität und
Wandlungsfähigkeit dargestellt. Das System XBase kann sowohl als
Multi-Roboter-System unter der Kontrolle einer Verhaltenssteuerung, wie
auch als verteiltes Multi-Agenten-System mit mehreren parallelen
Verhaltenssystemen fungieren
Haptic Interaction with a Guide Robot in Zero Visibility
Search and rescue operations are often undertaken in dark and noisy environment in which rescue team must rely on haptic feedback for exploration and safe exit. However, little attention has been paid specifically to haptic sensitivity in such contexts or the possibility of enhancing communicational proficiency in the haptic mode as a life-preserving measure. The potential of root swarms for search and rescue has been shown by the Guardians project (EU, 2006-2010); however the project also showed the problem of human robot interaction in smoky (non-visibility) and noisy conditions. The REINS project (UK, 2011-2015) focused on human robot interaction in such conditions. This research is a body of work (done as a part of he REINS project) which investigates the haptic interaction of a person wit a guide robot in zero visibility. The thesis firstly reflects upon real world scenarios where people make use of the haptic sense to interact in zero visibility (such as interaction among firefighters and symbiotic relationship between visually impaired people and guide dogs). In addition, it reflects on the sensitivity and trainability of the haptic sense, to be used for the interaction. The thesis presents an analysis and evaluation of the design of a physical interface (Designed by the consortium of the REINS project) connecting the human and the robotic guide in poor visibility conditions. Finally, it lays a foundation for the design of test cases to evaluate human robot haptic interaction, taking into consideration the two aspects of the interaction, namely locomotion guidance and environmental exploration
Vision-based schemas for an autunomous robotic soccer player
This article describes two vision-based behaviors designed for an autonomous robot. These behaviors
have been designed and implemented using schemas according to an architecture named DSH (Dynamic
Schema Hierarchies), which is also briefly described. The reactive behaviors implemented have been tested
in our robotic soccer players, running in EyeBot commercial platforms. The developed behaviors provide
the robot with the follow ball, and the follow border capabilities, using only the local camera and the robot
on-board low processing power. The design of the control schemas, the algorithms used to analyze the
images in perceptual schemas and relevant implementation issues are also described in this pape
Virtual Reality Games for Motor Rehabilitation
This paper presents a fuzzy logic based method to track user satisfaction without the need for devices to monitor users physiological conditions. User satisfaction is the key to any product’s acceptance; computer applications and video games provide a unique opportunity to provide a tailored environment for each user to better suit their needs. We have implemented a non-adaptive fuzzy logic model of emotion, based on the emotional component of the Fuzzy Logic Adaptive Model of Emotion (FLAME) proposed by El-Nasr, to estimate player emotion in UnrealTournament 2004. In this paper we describe the implementation of this system and present the results of one of several play tests. Our research contradicts the current literature that suggests physiological measurements are needed. We show that it is possible to use a software only method to estimate user emotion
Multiregionalism and multilateralism: Asian-European relations in a global context
The Asia-Europe Meeting (ASEM, est. 1996) is an interregional forum which consists of the members of the European Union and the Association of Southeast Asian Nations and China, Japan and South Korea. The main components of the ASEM process include political dialogue, economy, education and culture. 'Multiregionalism and multilateralism' focuses on the institutionalisation of intra-regional and inter-regional cooperation in the international system with emphasis on the changing relationship between the EU, China and India. The role of ASEM in this relationship is growing more important because of the growth of multilateralism as cornerstone of the international system.'Multiregionalism' en 'multilateralism' worden in de vakliteratuur gebruikt voor twee fenomenen die iedereen uit de praktijk kent. Bij multilateralisme gaat het om het oplossen van wereldwijde problemen door samenwerking tussen vele landen, zoals bijvoorbeeld in de Verenigde Naties. Bij multiregionalisme gaat het om blokken van samenwerkende landen die daardoor sterker staan, zoals bijvoorbeeld bij de EU. De nationale staat brokkelt onder de toenemende invloed van deze twee krachten steeds verder af terwijl de rol van NGO's als Green Peace of Human Rights Watch steeds groter worden. Ook in de verhoudingen tussen Azië en Europa spelen die krachten een steeds grotere rol. Multiregionalism and Multilateralism. Asian-European Relations in a Global Context geeft daarvan aansprekende voorbeelden
Multiregionalism and Multilateralism
The Asia-Europe Meeting (ASEM, est. 1996) is an interregional forum which consists of the members of the European Union and the Association of Southeast Asian Nations and China, Japan and South Korea. The main components of the ASEM process include political dialogue, economy, education and culture. Multiregionalism and Multilateralism focuses on the institutionalsiation of intra-regional and inter-regional cooperation in the international system with emphasis on the changing relationship between the EU, China and India. The role of ASEM in this relationship is growing more important because of the growth of multilateralism as cornerstone of the international system.'Multiregionalism' en 'multilateralism' worden in de vakliteratuur gebruikt voor twee fenomenen die iedereen uit de praktijk kent. Bij multilateralisme gaat het om het oplossen van wereldwijde problemen door samenwerking tussen vele landen, zoals bijvoorbeeld in de Verenigde Naties. Bij multiregionalisme gaat het om blokken van samenwerkende landen die daardoor sterker staan, zoals bijvoorbeeld bij de EU. De nationale staat brokkelt onder de toenemende invloed van deze twee krachten steeds verder af terwijl de rol van NGO's als Green Peace of Human Rights Watch steeds groter worden. Ook in de verhoudingen tussen Azië en Europa spelen die krachten een steeds grotere rol. Multiregionalism and Multilateralism. Asian-European Relations in a Global Context geeft daarvan aansprekende voorbeelden
Multiregionalism and Multilateralism
The Asia-Europe Meeting (ASEM, est. 1996) is an interregional forum which consists of the members of the European Union and the Association of Southeast Asian Nations and China, Japan and South Korea. The main components of the ASEM process include political dialogue, economy, education and culture. Multiregionalism and Multilateralism focuses on the institutionalsiation of intra-regional and inter-regional cooperation in the international system with emphasis on the changing relationship between the EU, China and India. The role of ASEM in this relationship is growing more important because of the growth of multilateralism as cornerstone of the international system
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