Distributed Architecture for Dynamic Role Behaviour in Humanoid Soccer Robots

Non

Hierarchical Reactive Control for Soccer Playing Humanoid Robots

What drives thousands of researchers worldwide to devote their creativity and energy t

DESAIN DAN SIMULASI SOLENOID DUA KUMPARAN SEBAGAI ALAT PENENDANG

Pada penelitian ini, sebuah purwarupa solenoid dua kumparan dirancang dan disimulasikan.  Solenoid ini merupakan aktator yang dirancang untuk kompetisi robot sepak bola dengan kecepatan plunger yang diharapkan mencapai 10 m/s. Pada penelitian lain, dibuktikan bahwa solenoid adalah mekanisme penendangan terbaik. Meskipun demikian, solenoid tersebut dibuat dengan satu kumparan sedangkan pada penelitian ini solenoid memiliki dua kumparan. Solenoid pada penelitian ini dibuat dengan dua kumparan agar dapat menghasilkan dua gerakan tendang yang berbeda. Rancangan penelitian solenoid diawali dengan perhitungan kemudian divalidasi dengan software simulasi FEMM untuk satu maupun dua kumparan. Dari perbandingan hasil perhitungan medan magnet antara simulasi menggunakan perangkat lunak FEMM didapatkan bahwa keduanya memiliki hasil yang mendekati dengan akurasi 0,01 Tesla

Pendeteksian Bola untuk Robot Sepak Bola Humanoid Berbasis Pengenalan Pola

 Humanoid soccer robot is one of popular developed robot. RoboCup is a competitive competiton of humanoid robot soccer. The rule of RoboCup changed by the time, the previous orange ball changed by white ball which is same color as the field line and the goal. Accordingly, in this research designed a white ball detection system for humanoid soccer robot based on pattern recognition. Histogram of Oriented Gradient (HOG) and Support Vector Machine (SVM) method are used in this research for feature extraction and classification. The result of this research is a system that be able to detect ball in humanoid soccer robot environment. The system tested by sliding window parameter testing, the distance of ball to robot testing, different light intensity testing, and other object testing. The conclusions of this research are: optimal detection is obtained by using 8x8 win_stride parameter size and 1,2 scale0 parameter value, maximum distance of detection with 32×32 window detector is 180 cm and with 64×64 window detector is 140 cm, the response of system in different light intensity is good enough, and the success rate of system against other obstacle object with 32×32 window detector is 68% and with 64×64 window detector is 99%

Service robotics: do you know your new companion? Framing an interdisciplinary technology assessment

Service-Robotic—mainly defined as “non-industrial robotics”—is identified as the next economical success story to be expected after robots have been ubiquitously implemented into industrial production lines. Under the heading of service-robotic, we found a widespread area of applications reaching from robotics in agriculture and in the public transportation system to service robots applied in private homes. We propose for our interdisciplinary perspective of technology assessment to take the human user/worker as common focus. In some cases, the user/worker is the effective subject acting by means of and in cooperation with a service robot; in other cases, the user/worker might become a pure object of the respective robotic system, for example, as a patient in a hospital. In this paper, we present a comprehensive interdisciplinary framework, which allows us to scrutinize some of the most relevant applications of service robotics; we propose to combine technical, economical, legal, philosophical/ethical, and psychological perspectives in order to design a thorough and comprehensive expert-based technology assessment. This allows us to understand the potentials as well as the limits and even the threats connected with the ongoing and the planned implementation of service robots into human lifeworld—particularly of those technical systems displaying increasing grades of autonomy

Desain dan Simulasi Solenoid Dua Kumparan sebagai Alat Penendang

Pada penelitian ini, sebuah purwarupa solenoid dua kumparan dirancang dan disimulasikan.  Solenoid ini merupakan aktator yang dirancang untuk kompetisi robot sepak bola dengan kecepatan plunger yang diharapkan mencapai 10 m/s. Pada penelitian lain, dibuktikan bahwa solenoid adalah mekanisme penendangan terbaik. Meskipun demikian, solenoid tersebut dibuat dengan satu kumparan sedangkan pada penelitian ini solenoid memiliki dua kumparan. Solenoid pada penelitian ini dibuat dengan dua kumparan agar dapat menghasilkan dua gerakan tendang yang berbeda. Rancangan penelitian solenoid diawali dengan perhitungan kemudian divalidasi dengan software simulasi FEMM untuk satu maupun dua kumparan. Dari perbandingan hasil perhitungan medan magnet antara simulasi menggunakan perangkat lunak FEMM didapatkan bahwa keduanya memiliki hasil yang mendekati dengan akurasi 0,01 Tesla

Machine Learning Meets Advanced Robotic Manipulation

Automated industries lead to high quality production, lower manufacturing cost and better utilization of human resources. Robotic manipulator arms have major role in the automation process. However, for complex manipulation tasks, hard coding efficient and safe trajectories is challenging and time consuming. Machine learning methods have the potential to learn such controllers based on expert demonstrations. Despite promising advances, better approaches must be developed to improve safety, reliability, and efficiency of ML methods in both training and deployment phases. This survey aims to review cutting edge technologies and recent trends on ML methods applied to real-world manipulation tasks. After reviewing the related background on ML, the rest of the paper is devoted to ML applications in different domains such as industry, healthcare, agriculture, space, military, and search and rescue. The paper is closed with important research directions for future works

Projeto de um manipulador antropomórfico para o robô CAMBADA@Home

Mestrado em Engenharia Eletrónica e TelecomunicaçõesNowadays, service robots are an attractive that moves numerous researchers and hence research units, publics or privates ones, being Universities a good example of this fact. RoboCup competition, namely its RoboCup@Home league, brings to the fore various and excellent projects, being a storefront of the service robots state of the art. Service robots have numerous applications, for instance serving someone for leisure, helping someone with reduced mobility or even perform boring tasks. In this sense, the Transverse Activity on Intelligent Robotics (ATRI) group, part of the Institute of Electronics and Telematics Engineering of Aveiro (IEETA), intends at endowing the CAMBADA@Home robot with an anthropomorphic arm. This arm allow a more e ective human robot interaction. Thus, the robot will be able to carry some small objects as well as put them in a predetermined place. Furthermore, this anthropomorphic manipulator will enable the robot to carry heavier loads with human cooperation as well as open doors. Herewith, this document depicts the conception of an anthropomorphic arm mechanical structure as well as the low level electronics developed on behalf of the arm right performance.Os robôs de serviço são actualmente um atrativo que tem movido vários investigadores e consequentemente unidades de investigação, tanto privadas como públicas, sendo um bom exemplo deste facto inúmeras Universidades. A competição RoboCup, nomeadamente a sua liga RoboCup@Home, catapulta para a ribalta variados e excelentes projectos, sendo deveras uma montra no estado da arte actual neste tipo de robôs. Os robôs de serviço têm inúmeras aplicações, desde servir alguém por lazer até apoiar indivíduos não totalmente independentes nas suas tarefas diárias, sem esquecer tarefas morosas e repetitivas que normalmente os seres humanos não gostam de executar. Neste ^âmbito, o Grupo de Actividade Transversal em Robótica Inteligente (ATRI) do Instituto de Engenharia Electrónica e Telemática de Aveiro (IEETA), pretende munir o seu robô CAMBADA@Home de um braço antropomórfico, este que permitirá uma interação humano robô mais efectiva. Neste sentido, o robô será capaz de transportar objectos de pequeno porte bem como colocá-los num lugar pré-determinado sem ser esquecida a cooperação com humanos no transporte de cargas mais pesadas bem como a aberturas de portas. Sendo assim, este documento descreve a concepção de uma estrutura mecânica para o Braço antropomórfico bem como o desenvolvimento da electrónica de baixo nível inerente ao funcionamento do mesmo