1,610 research outputs found

    Multi-bot Easy Control Hierarchy

    Get PDF
    The goal of our project is to create a software architecture that makes it possible to easily control a multi-robot system, as well as seamlessly change control modes during operation. The different control schemes first include the ability to implement on-board and off-board controllers. Second, the commands can specify either actuator level, vehicle level, or fleet level behavior. Finally, motion can be specified by giving a waypoint and time constraint, a velocity and heading, or a throttle and angle. Our code is abstracted so that any type of robot - ranging from ones that use a differential drive set up, to three-wheeled holonomic platforms, to quadcopters - can be added to the system by simply writing drivers that interface with the hardware used and by implementing math packages that do the required calculations. Our team has successfully demonstrated piloting a single robots while switching between waypoint navigation and a joystick controller. In addition, we have demonstrated the synchronized control of two robots using joystick control. Future work includes implementing a more robust cluster control, including off-board functionality, and incorporating our architecture into different types of robots

    Development of a Low-Cost Open-Source Platform for Smart Irrigation Systems

    Get PDF
    Nowadays, smart irrigation is becoming an essential goal in agriculture, where water and energy are increasingly limited resources. Its importance will grow in the coming years in the agricultural sector where the optimal use of resources and environmental sustainability are becoming more important every day. However, implementing smart irrigation is not an easy task for most farmers since it is based on knowledge of the different processes and factors that determine the crop water requirements. Thanks to technological developments, it is possible to design new tools such as sensors or platforms that can be connected to soil-water-plant-atmosphere models to assist in the optimization and automation of irrigation. In this work, a low-cost, open-source IoT system for smart irrigation has been developed that can be easily integrated with other platforms and supports a large number of sensors. The platform uses the FIWARE framework together with customized components and can be deployed using edge computing and/or cloud computing systems. To improve decision-making, the platform integrates an irrigation model that calculates soil water balance and wet bulb dimensions to determine the best irrigation strategy for drip irrigation systems. In addition, an energy efficient open-source datalogger has been designed. The datalogger supports a wide range of communications and is compatible with analog sensors, SDI-12 and RS-485 protocols. The IoT system has been deployed on an olive farm and has been in operation for one irrigation season. Based on the results obtained, advantages of using these technologies over traditional methods are discussed

    Dowry Towns of Bohemian Queens - web-based 3D model viewer

    Get PDF
    Táto práca sa pozerá na možnosti zobrazovania obsahu rozšírenej reality na mobilných zariadeniach v prostredí webového prehliadača. To znamená dostupnosť len obmedzených hardwarových i softwarových prostriedkov. Je implementovaný algoritmus ORB na detekciu obrazových príznakov a optimalizovaný pomocou paralelizovaného spracovania obrazu pomocou knižnice GPU.js. Bolo preskúmaných niekoľko algoritmov pre odhad polohy kamery a výpočet projekčnej matice. 3D modely sú zobrazené na obraze z kamery a sú preskúmavané možnosti ich zobrazovania tak aby sa zhodovali s orientáciou scény. Na konci sú popísané scenáre testujúce jednoduchosť používania ovládania výsledného widgetu.This thesis looks into the possibilities of displaying augmented reality content on mobile devices in the web browser environment. This means there are limited hardware and software resources available. The ORB algorithm for image features detection is implemented from scratch and optimized with the use of parallelized image processing using the GPU.js library. Several algorithms for pose estimation and projection matrix generation were collected and examined. 3D models are displayed over the camera feed and measures are examined to project it to match the scene's orientation. There are test scenarios described checking whether the controls of the resulting widget is easy to use

    BlogForever: D3.1 Preservation Strategy Report

    Get PDF
    This report describes preservation planning approaches and strategies recommended by the BlogForever project as a core component of a weblog repository design. More specifically, we start by discussing why we would want to preserve weblogs in the first place and what it is exactly that we are trying to preserve. We further present a review of past and present work and highlight why current practices in web archiving do not address the needs of weblog preservation adequately. We make three distinctive contributions in this volume: a) we propose transferable practical workflows for applying a combination of established metadata and repository standards in developing a weblog repository, b) we provide an automated approach to identifying significant properties of weblog content that uses the notion of communities and how this affects previous strategies, c) we propose a sustainability plan that draws upon community knowledge through innovative repository design

    A Sign Language to Text Converter Using Leap Motion

    Get PDF
    This paper presents a prototype that can convert sign language into text. A Leap Motion controller was utilised as an interface for hand motion tracking without the need of wearing any external instruments. Three recognition techniques were employed to measure the performance of the prototype, namely the Geometric Template Matching, Artificial Neural Network and Cross Correlation. 26 alphabets from American Sign Language were chosen for training and testing the proposed prototype. The experimental results showed that Geometric Template Matching achieved the highest recognition accuracy compared to the other recognition techniques
    corecore