52,530 research outputs found

    Adaptation of a Cooperative A* algorithm for real time strategy games

    No full text
    RESUMEN: Los algoritmos de "pathfinding" (búsqueda de caminos) son un problema clásico en la computación desde hace ya varias décadas. Dichos algoritmos han encontrado un buen número de aplicaciones en diversos campos. Ejemplos tradicionales de campos de aplicación son la robótica (trayectorias seguidas por los robots en sus desplazamientos) o los videojuegos (rutinas de navegación para el desplazamiento de los personajes y objetos sintéticos en mundos virtuales 2D y 3D). Por ese motivo, los algoritmos de "pathfinding" han formado parte de la inteligencia artificial de los videojuegos. En ese contexto, un gran componente de muchos videojuegos (por ejemplo, los juegos de estrategia en tiempo real) es el "pathfinding" cooperativo, en el cual es importante poder gestionar varios agentes a la vez en un mismo mapa. Existen distintas versiones de algoritmos que funcionan de manera cooperativa como pueden ser LRA* o WHCA*. En este proyecto de TFG se pretenden explorar las ideas iniciales de la publicación original de David Silver sobre "Cooperative A*". Aunque ya se ha avanzado en este tema, el algoritmo presenta aún varios problemas, cuya soluciones y limitaciones no están claramente descritas en la literatura. Por ello, se propone una visión propia investigando y realizando pruebas y análisis de las ideas originales propuestas en esta publicación, así como una implementación propia del algoritmo y la incorporación de las modificaciones que veamos necesarias para un mejor funcionamiento.ABSTRACT: Pathfinding algorithms have been a classical computational problem for various decades. These algorithms have been applied to solve various problems in a wide range of fields. A traditional example is robotics (the path that a robot should follow when moving) or videogames (navigation routes for playing or non-playing character and moving synthetic objects through 2D and 3D environments). Owing to these reasons, pathfinding algorithms have taken a big presence in videogame artificial intelligence development. In this context a huge component of many videogames (for example, real strategy games) is cooperative pathfinding, which is important to control many agents at the same time in a map. There are various versions of cooperative algorithms like LRA* or WHCA*. In this final degree project, we pretend to explore the initial ideas from David Silver about “Cooperative A*”. Although this field has been progressing, it still has some problems, which were not clear in the literature. Taking this into account, we propose our own version of the algorithm investigating, doing some testing and analyzing the originals ideas proposed in this publication unified with our own implementation of the algorithm and the needed modifications, for better performance.Grado en Ingeniería Informátic

    Developing an individual indoor positioning system

    No full text
    RESUMEN: Este trabajo se llevó acabo de Julio de 2018 a Febrero de 2019, en la Fundación Centro Tecnológico de Componentes, dentro de un proyecto de desarrollo de un prototipo comercial de sistema de localización en interiores del departamento de robótica y sistemas de navegación. El objetivo de este proyecto es el desarrollo de un sistema de localización de personas en espacios confinados con alto grado de compartimentación, haciendo uso de los desarrollos más novedosos de Blutooth 5, Bluetooth Mesh, Bluetooth Samart y Beaconing. Para ello, se utilizaron microcontroladores junto con Beacons, construyendo una red colaborativa de nodos llevados por las personas, que emiten información mientras que otros la almacenan durante un corto periodo de tiempo y finalmente la reenvían a una unidad central donde se procesa y almacena de manera persistente. Para conseguirlo, hubo que seleccionar la tecnología que ofreciese las mayores prestaciones, pero con un coste limitado. Posteriormente, se desarrolló una aplicación de software por capas, teniendo una capa superior multiplataforma y una capa inferior específica del dispositivo, facilitando de esta manera el uso del mismo software en distintos dispositivos. Este sistema está orientado a ser utilizado por empresas con plantillas en entornos peligrosos, en los que existan problemas para establecer comunicaciones de manera convencional, teniendo como meta en última instancia facilitar las labores de rescate de los trabajadores, en caso de que se produzca un accidente. Además, el sistema debe tener la capacidad de proporcionar información acerca de la última localización conocida de los individuos, con lo que se minimiza el tiempo de búsqueda. El prototipo que se desarrolló, demostró ser una solución viable para localizar individuos en espacios confinados con alto grado de compartimentación, debido a que superó las pruebas de funcionamiento. No obstante, es necesario seguir trabajando en los aspectos técnicos del sistema, con el fin de optimizar y garantizar su correcto funcionamiento.ABSTRACT: The work that I present was carried out at the Fundacion Centro Tecnologico de Componentes, from July 2018 to February 2019. There I was involved in one of the robotics and navigation systems department projects to develop a commercial prototype. The aim of this project is to develop an individual indoor positioning system. In order to achieve that, we use microcontrollers and Beacons. The technologies involved were Bluetooth 5, Bluetooth Mesh, Bluetooth Smart and Beaconing. The prototype is a collaborative network of devices, where some of them broadcast a signal, while others, relay that information to a central node. The central node receives all the information and keeps it on a persistent record. Thus we select the appropriate technology in terms of capability and device cost. Then, we develop a software application with a layer structure. The lower layer is built with devices specific libraries whereas the upper layer is meant to be a multi-platform layer. This structure makes the system more exible in terms of using different devices. This system is conceived to be used by people under risky working environments, where the standard communication techniques are limited. Hence the system will ameliorate the rescue time in case of an incident, providing information about the last position of the workers. The developed prototype proves to be a suitable solution to locate people at con_ned spaces, besides it still needs some further improvements and optimization.Grado en Físic

    Design of a robotic system for the electropolishing process of a steam generator channel head

    No full text
    El proyecto nace de la necesidad tanto de reducir el riesgo al que se somete un operario durante la fase de electropulido como de obtener la mejor calidad en la superficie interior de la caja de aguas tras el electropulido. Además, se busca reducir el tiempo de producción. El objetivo del proyecto es buscar una solución óptima que mejore la productividad y seguridad del proceso de electropulido. Partiendo del proceso de electropulido que se realiza actualmente de forma manual, se busca implementar un sistema automatizado (brazo robótico) para realizar el electropulido. Se utilizarán los programas de ABB y Stäubli para la simulación de aplicaciones robotizadas RobotStudio y SRS (Stäubli Robotics Suite). La parte del generador de vapor que se somete al proceso de electropulido es la superficie interior de la caja de aguas.Grado en Ingeniería en Tecnologías Industriale

    Key technologies for safe and autonomous drones

    Get PDF
    Drones/UAVs are able to perform air operations that are very difficult to be performed by manned aircrafts. In addition, drones' usage brings significant economic savings and environmental benefits, while reducing risks to human life. In this paper, we present key technologies that enable development of drone systems. The technologies are identified based on the usages of drones (driven by COMP4DRONES project use cases). These technologies are grouped into four categories: U-space capabilities, system functions, payloads, and tools. Also, we present the contributions of the COMP4DRONES project to improve existing technologies. These contributions aim to ease drones’ customization, and enable their safe operation.This project has received funding from the ECSEL Joint Undertaking (JU) under grant agreement No 826610. The JU receives support from the European Union’s Horizon 2020 research and innovation programme and Spain, Austria, Belgium, Czech Republic, France, Italy, Latvia, Netherlands. The total project budget is 28,590,748.75 EUR (excluding ESIF partners), while the requested grant is 7,983,731.61 EUR to ECSEL JU, and 8,874,523.84 EUR of National and ESIF Funding. The project has been started on 1st October 2019

    Inference Over Bayesian Networks for the Diagnosis and Sensory Enhancement of Mobile Robots

    No full text
    The thesis contributes with a novel modeling paradigm, a so-called Bayesian sensory architecture, that enables the representation of any robotic sensory system, allowing the identification of anomalies and the recovery from them. The main drawback of this proposal is the potentially high computational cost of inference with Bayesian networks, which is addressed with a novel, approximate algorithm that leverages the structure of the proposed model. Both the sensory architecture and the corresponding inference algorithm are implemented for different robotic tasks, and are validated through different sets of both simulated and real experiments. One of the implementations is aimed at analyzing the performance of the proposed algorithm in terms of error and computation time. The results obtained from the experiments show that the cost of inference is significantly reduced, and that the approximate queries produced still serve to perform sensory diagnosis and recovery adequately. Another implementation is proposed for the problem of robotic navigation in human environments. In this case, the experimental results prove that the use of the architecture manages to increase the safety and efficiency of navigation. Lastly, a new inference approach based on the use of feedforward neural networks is implemented and tested for this problem, showing that it is possible to reduce, even more, the cost of inference with Bayesian networks, enabling real time operation.Mobile robots are nowadays present in countless real-world applications, aiding or substituting human beings in a wide variety of tasks related to scopes as diverse as industrial, military, medical, educational and many others. The use of mobile platforms in all these contexts is revolutionizing their respective fields, overcoming previous limitations and offering new possibilities. However, for a mobile robot to work properly, it is essential that its sensory apparatus provides correct and reliable information, which is often challenging due to the complexity of the physical world and its uncertain nature. To address that, this thesis explores the possibilities of the application of Bayesian networks (BNs) to the problem of sensory diagnosis and enhancement in the context of mobile robotics. Arised from the realm of artificial intelligence, Bayesian networks constitute a rigorous mathematical framework that enables both the integration of heterogeneous sources of information and the reasoning about them while taking their uncertainty into account. The thesis first analyzes different sensory anomalies in mobile robots and the impact of such abnormal behavior on the performance of these platforms. Given the wide variety of existing sensory devices, the analysis is focused on range sensors, since they are essential to many robotic tasks also grounded on probabilistic frameworks such as Bayesian estimators. Specifically, the thesis contributes with a rigorous statistical study of the influence of abnormal range observations on the performance of Bayesian filters, addressing the problem from a generic perspective thanks to the use of BNs. The conclusions obtained serve to illustrate the importance of sensory abnormalities beyond the pervasively studied issue of noisy observations. The treatment of sensory anomalies in mobile robots with Bayesian networks is then addressed

    L’industrie 4.0, vers une dé-globalisation des chaînes de valeur ? Effets attendus de la robotique industrielle avancée et de la fabrication additive sur le système de coordination

    No full text
    L’objectif de cet article est de proposer un cadre de réflexion pour saisir comment les technologies de la robotique industrielle avancée et de la fabrication additive conduisent à restructurer la géographie des chaînes de valeur. À partir d’un cadre d’analyse en termes de système coordination, nous détaillons comment ces deux briques technologiques viennent renforcer les forces centrifuges et centripètes déterminant le degré de globalisation des chaînes de valeur. L’analyse de la littérature empirique suggère que la robotique industrielle avancée qui se développe rapidement possède un potentiel ambigu (mais probable) de resserrement des chaînes de valeurs alors que la plus difficilement déployable fabrication additive possède un potentiel de déglobalisation élevé. La conclusion appelle de ses vœux la réalisation de travaux quantitatifs afin de mieux guider les politiques publiques en faveur de l’industrie 4.0.Classification JEL : L23, F21, M21.The aim of this paper is to propose a framework for understanding how advanced industrial robotics and additive manufacturing technologies lead to the restructuring of the geography of value chains. Building on an analytical framework in terms of the “coordination system,” we explain how these two technological bricks reinforce the centrifugal and centripetal forces determining the degree of globalization of value chains. Analysis of the empirical literature suggests that rapidly developing advanced industrial robotics has an ambiguous (but likely) potential for shortening value chains, while additive manufacturing, which has been more difficult to deploy, has a high deglobalization potential. The conclusion calls for quantitative studies to be carried out in order to better guide public policy in favor of Industry 4.0.JEL classification: L23, F21, M21

    Robotic responsibility

    No full text
    RESUMEN: El avance de la robótica, y su gran implantación en numerosas áreas alejadas de sus históricos lugares cerrados de trabajo, está colocando a nuestra sociedad actual ante importantes dilemas jurídicos. Uno de ellos es la responsabilidad civil que se origina cuando un robot ocasiona daños a terceras personas, la pregunta es, ¿a quién atribuimos la responsabilidad por dichos daños?, ya que las victimas de tales perjuicios tienen derecho a ser resarcidas. Aun teniendo cierta normativa que protege a los consumidores y usuarios por los productos fabricados que causen un perjuicio debido a una anomalía en su actividad, el problema se plantea sobre los robots más modernos que operan de manera autónoma alejados del control de sus dueños, lo que hace inoperativos los criterios generales de imputación de responsabilidad por daños. Sin lugar a dudas, lo que resulta de suma importancia es la protección de las víctimas, ya que estas se sitúan en una posición de vulnerabilidad que hace necesaria la elaboración de un cuerpo normativo que defienda sus intereses.ABSRTACT: The advance of the robotics, and his great implantation in numerous areas removed from his historical closed places of work, is placing to our current company before important juridical dilemmas. One of them, it is the civil responsibility that originates when a robot causes hurts to third persons, the question is, to whom do we attribute the responsibility for the above mentioned hurts?, since the victims of such prejudices have right to be indemnified. Even having certain regulation that protects the consumers and users for the made products that cause a prejudice due to an anomaly in his activity, the problem appears on the most modern robots that they produce in an autonomous way removed from the control of his owners, which makes unoperative the general criteria of imputation of responsibility for hurts. No doubt, which ensues from supreme importance is the protection of the victims, since these place in a position of vulnerability that makes necessary the production of a normative body that defends his interests.Grado en Derech

    Meso-scale FDM material layout design strategies under manufacturability constraints and fracture conditions

    Get PDF
    In the manufacturability-driven design (MDD) perspective, manufacturability of the product or system is the most important of the design requirements. In addition to being able to ensure that complex designs (e.g., topology optimization) are manufacturable with a given process or process family, MDD also helps mechanical designers to take advantage of unique process-material effects generated during manufacturing. One of the most recognizable examples of this comes from the scanning-type family of additive manufacturing (AM) processes; the most notable and familiar member of this family is the fused deposition modeling (FDM) or fused filament fabrication (FFF) process. This process works by selectively depositing uniform, approximately isotropic beads or elements of molten thermoplastic material (typically structural engineering plastics) in a series of pre-specified traces to build each layer of the part. There are many interesting 2-D and 3-D mechanical design problems that can be explored by designing the layout of these elements. The resulting structured, hierarchical material (which is both manufacturable and customized layer-by-layer within the limits of the process and material) can be defined as a manufacturing process-driven structured material (MPDSM). This dissertation explores several practical methods for designing these element layouts for 2-D and 3-D meso-scale mechanical problems, focusing ultimately on design-for-fracture. Three different fracture conditions are explored: (1) cases where a crack must be prevented or stopped, (2) cases where the crack must be encouraged or accelerated, and (3) cases where cracks must grow in a simple pre-determined pattern. Several new design tools, including a mapping method for the FDM manufacturability constraints, three major literature reviews, the collection, organization, and analysis of several large (qualitative and quantitative) multi-scale datasets on the fracture behavior of FDM-processed materials, some new experimental equipment, and the refinement of a fast and simple g-code generator based on commercially-available software, were developed and refined to support the design of MPDSMs under fracture conditions. The refined design method and rules were experimentally validated using a series of case studies (involving both design and physical testing of the designs) at the end of the dissertation. Finally, a simple design guide for practicing engineers who are not experts in advanced solid mechanics nor process-tailored materials was developed from the results of this project.U of I OnlyAuthor's request

    The impact of intelligent automation on global value chains

    No full text
    Inteligentna automatizacija je primjena strojeva na zadatke koje su nekoć obavljali ljudi, tj. na zadatke koji bi inače bili nemogući. Iako se izraz mehanizacija često koristi za označavanje jednostavne zamjene ljudskog rada strojevima, automatizacija općenito podrazumijeva integraciju strojeva u cjelokupni sustav. Automatizacija je revolucionirala područja u kojima je uvedena i gotovo da ne postoji aspekt modernog života na koji ona nije utjecala. Ciljevi ovog rada su : pobliže definirati lance vrijednosti i globalne lance vrijednosti, objasniti inteligentnu automatizaciju i njenu ulogu u poslovanju, analizirati ulogu automatizacije u globalnim lancima vrijednosti, te kritički sagledati najbolje prakse koje se koristi prilikom implementiranja inteligentne automatizacije i drugih sustava u poduzećima Gideon Brothers d.o.o. i Tokić d.o.o. Ovaj rad pokriva osnove inteligentne automatizacije, uključujući njezin povijesni razvoj, principe i teoriju rada, primjene u proizvodnom i uslužnom sektoru i u nekim industrijama važnim u svakodnevnom životu, te kakav utjecaj ima na pojedinca i društvo općenito. U radu se također daje osvrt na razvoj i tehnologiju robotike kao značajne teme unutar automatizacije.Intelligent automation is the application of machines to resolve tasks that were once performed by humans, i.e. tasks that would otherwise be impossible. Although the term mechanization is often used to refer to the simple replacement of human labor by machines, automation generally implies the integration of machines into an overall system. Automation has revolutionized the fields in which it has been introduced and there is almost no aspect of modern life that has not been affected by it. The objectives of this paper are: to define value chains and global value chains in more detail, to explain intelligent automation and its role in business, to analyze the role of automation in global value chains, and to critically review the best practices used when implementing intelligent automation and other systems in companies Gideon Brothers d.o.o. and Tokić d.o.o. This paper covers the basics of intelligent automation, including its historical development, principles and theory of operation, applications in the manufacturing and service sectors and in some industries importance in everyday life, and what impact it has on the individual and society in general. The paper also reviews the development and technology of robotics as a significant topic within automation

    Towards Autonomous Selective Harvesting: A Review of Robot Perception, Robot Design, Motion Planning and Control

    Full text link
    This paper provides an overview of the current state-of-the-art in selective harvesting robots (SHRs) and their potential for addressing the challenges of global food production. SHRs have the potential to increase productivity, reduce labour costs, and minimise food waste by selectively harvesting only ripe fruits and vegetables. The paper discusses the main components of SHRs, including perception, grasping, cutting, motion planning, and control. It also highlights the challenges in developing SHR technologies, particularly in the areas of robot design, motion planning and control. The paper also discusses the potential benefits of integrating AI and soft robots and data-driven methods to enhance the performance and robustness of SHR systems. Finally, the paper identifies several open research questions in the field and highlights the need for further research and development efforts to advance SHR technologies to meet the challenges of global food production. Overall, this paper provides a starting point for researchers and practitioners interested in developing SHRs and highlights the need for more research in this field.Comment: Preprint: to be appeared in Journal of Field Robotic
    corecore