An Integrated Software-based Solution for Modular and Self-independent Networked Robot

An integrated software-based solution for a modular and self-independent networked robot is introduced. The wirelessly operatable robot has been developed mainly for autonomous monitoring works with full control over web. The integrated software solution covers three components : a) the digital signal processing unit for data retrieval and monitoring system; b) the externally executable codes for control system; and c) the web programming for interfacing the end-users with the robot. It is argued that this integrated software-based approach is crucial to realize a flexible, modular and low development cost mobile monitoring apparatus.Comment: 9 pages, Proceeding of the 10th International Conference on Control, Automation, Robotics and Visio

Musical Robots For Children With ASD Using A Client-Server Architecture

Presented at the 22nd International Conference on Auditory Display (ICAD-2016)People with Autistic Spectrum Disorders (ASD) are known to have difficulty recognizing and expressing emotions, which affects their social integration. Leveraging the recent advances in interactive robot and music therapy approaches, and integrating both, we have designed musical robots that can facilitate social and emotional interactions of children with ASD. Robots communicate with children with ASD while detecting their emotional states and physical activities and then, make real-time sonification based on the interaction data. Given that we envision the use of multiple robots with children, we have adopted a client-server architecture. Each robot and sensing device plays a role as a terminal, while the sonification server processes all the data and generates harmonized sonification. After describing our goals for the use of sonification, we detail the system architecture and on-going research scenarios. We believe that the present paper offers a new perspective on the sonification application for assistive technologies

One-Chip Solution to Intelligent Robot Control: Implementing Hexapod Subsumption Architecture Using a Contemporary Microprocessor

This paper introduces a six-legged autonomous robot managed by a single controller and a software core modeled on subsumption architecture. We begin by discussing the features and capabilities of IsoPod, a new processor for robotics which has enabled a streamlined implementation of our project. We argue that this processor offers a unique set of hardware and software features, making it a practical development platform for robotics in general and for subsumption-based control architectures in particular. Next, we summarize original ideas on subsumption architecture implementation for a six-legged robot, as presented by its inventor Rodney Brooks in 1980s. A comparison is then made to a more recent example of a hexapod control architecture based on subsumption. The merits of both systems are analyzed and a new subsumption architecture layout is formulated as a response. We conclude with some remarks regarding the development of this project as a hint at new potentials for intelligent robot design, opened by a recent development in embedded controller market

System configuration, fault detection, location, isolation and restoration: a review on LVDC Microgrid protections

Low voltage direct current (LVDC) distribution has gained the significant interest of research due to the advancements in power conversion technologies. However, the use of converters has given rise to several technical issues regarding their protections and controls of such devices under faulty conditions. Post-fault behaviour of converter-fed LVDC system involves both active converter control and passive circuit transient of similar time scale, which makes the protection for LVDC distribution significantly different and more challenging than low voltage AC. These protection and operational issues have handicapped the practical applications of DC distribution. This paper presents state-of-the-art protection schemes developed for DC Microgrids. With a close look at practical limitations such as the dependency on modelling accuracy, requirement on communications and so forth, a comprehensive evaluation is carried out on those system approaches in terms of system configurations， fault detection, location, isolation and restoration

Semantic multimedia remote display for mobile thin clients

Current remote display technologies for mobile thin clients convert practically all types of graphical content into sequences of images rendered by the client. Consequently, important information concerning the content semantics is lost. The present paper goes beyond this bottleneck by developing a semantic multimedia remote display. The principle consists of representing the graphical content as a real-time interactive multimedia scene graph. The underlying architecture features novel components for scene-graph creation and management, as well as for user interactivity handling. The experimental setup considers the Linux X windows system and BiFS/LASeR multimedia scene technologies on the server and client sides, respectively. The implemented solution was benchmarked against currently deployed solutions (VNC and Microsoft-RDP), by considering text editing and WWW browsing applications. The quantitative assessments demonstrate: (1) visual quality expressed by seven objective metrics, e.g., PSNR values between 30 and 42 dB or SSIM values larger than 0.9999; (2) downlink bandwidth gain factors ranging from 2 to 60; (3) real-time user event management expressed by network round-trip time reduction by factors of 4-6 and by uplink bandwidth gain factors from 3 to 10; (4) feasible CPU activity, larger than in the RDP case but reduced by a factor of 1.5 with respect to the VNC-HEXTILE

Three resilient megastructures by Pier Luigi Nervi

Resilience, as the ability of a structure to withstand threats and continue to function, it is normally related to durability and performance to accepted standards over time. The resilience of a structure can be threatened by poor design, changes in the public's perception of style, the potential for a change-in-use and structural attack; catastrophic events such as fire, explosion or impact are usually considered the main threats for Resilience. In the contemporary built environment Resilience is considered increasingly important; it has, in fact, become one of the major design issues, especially for large, iconic or public and prominent structures: this has not always been the case. Following the Second World War, building designers faced the necessity to conceive projects within severe financial constraints, hence the proliferation of a low quality and limited life-span structures; buildings which were designed to be replaceable, cheap and perhaps anonymous. This was thought to be an effec-tive answer to quickly accommodate the large number of people moving towards the urban environment partly destroyed by the WWII. These very buildings now constitute the backbone of our urban scenery and although some still function adequately, many are perfect examples of structures which exhibit a lack of re-silience. Fortunately, there were a few designers who refused this post-war tendency and attempted to design lasting structures of quality: most of them were engineers. This is not a coincidence, engineers had less to do with the issue of providing residential accommodations and more with the erection of large structures which necessitated a higher quality control on materials and technologies: Pier Luigi Nervi was one of them. This work considers three large structures designed and built fifty years ago,in 1961, by the Italian engineer. The structures are the Bus Station at the George Washington Bridge in New York (USA); The Burgo Paper Mill in Mantua (Italy); and the Palace of Labour in Turin (Italy). All of these buildings are hybrid structures (concrete and steel), an unusual choice for Nervi that perhaps reects the design climate at the time; These buildings reacted quite differently to the events that have occurred over the past half century. One of the key factors to achieve resilience it is considered to be the quality of the buildings, which includes their ability to perform maintenance. The lack of which for whatever reason, this paper aims to demonstrate, will inevitably result in a weak performance in terms of resilience on the long run