23,867 research outputs found
Towards Interactive, Incremental Programming of ROS Nodes
Writing software for controlling robots is a complex task, usually demanding
command of many programming languages and requiring significant
experimentation. We believe that a bottom-up development process that
complements traditional component- and MDSD-based approaches can facilitate
experimentation. We propose the use of an internal DSL providing both a tool to
interactively create ROS nodes and a behaviour-replacement mechanism to
interactively reshape existing ROS nodes by wrapping the external interfaces
(the publish/subscribe topics), dynamically controlled using the Python command
line interface.Comment: Presented at DSLRob 2014 (arXiv:cs/1411.7148
A Platform-independent Programming Environment for Robot Control
The development of robot control programs is a complex task. Many robots are
different in their electrical and mechanical structure which is also reflected
in the software. Specific robot software environments support the program
development, but are mainly text-based and usually applied by experts in the
field with profound knowledge of the target robot. This paper presents a
graphical programming environment which aims to ease the development of robot
control programs. In contrast to existing graphical robot programming
environments, our approach focuses on the composition of parallel action
sequences. The developed environment allows to schedule independent robot
actions on parallel execution lines and provides mechanism to avoid
side-effects of parallel actions. The developed environment is
platform-independent and based on the model-driven paradigm. The feasibility of
our approach is shown by the application of the sequencer to a simulated
service robot and a robot for educational purpose
Feasibility of Warehouse Drone Adoption and Implementation
While aerial delivery drones capture headlines, the pace of adoption of drones in warehouses has shown the greatest acceleration. Warehousing constitutes 30% of the cost of logistics in the US. The rise of e-commerce, greater customer service demands of retail stores, and a shortage of skilled labor have intensified competition for efficient warehouse operations. This takes place during an era of shortening technology life cycles. This paper integrates several theoretical perspectives on technology diffusion and adoption to propose a framework to inform supply chain decision-makers on when to invest in new robotics technology
Towards Declarative Safety Rules for Perception Specification Architectures
Agriculture has a high number of fatalities compared to other blue collar
fields, additionally population decreasing in rural areas is resulting in
decreased work force. These issues have resulted in increased focus on
improving efficiency of and introducing autonomy in agriculture. Field robots
are an increasingly promising branch of robotics targeted at full automation in
agriculture. The safety aspect however is rely addressed in connection with
safety standards, which limits the real-world applicability. In this paper we
present an analysis of a vision pipeline in connection with functional-safety
standards, in order to propose solutions for how to ascertain that the system
operates as required. Based on the analysis we demonstrate a simple mechanism
for verifying that a vision pipeline is functioning correctly, thus improving
the safety in the overall system.Comment: Presented at DSLRob 2015 (arXiv:1601.00877
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