Human interaction dynamics for its use in mobile robotics: Impedance control for leader-follower formation

A complete characterization of the behavior in human-robot interactions (HRI) includes both: the behavioral dynamics and the control laws that characterize how the behavior is regulated with the perception data. In this way, this work proposes a leader-follower coordinate control based on an impedance control that allows to establish a dynamic relation between social forces and motion error. For this, a scheme is presented to identify the impedance based on fictitious social forces, which are described by distance-based potential fields. As part of the validation procedure, we present an experimental comparison to select the better of two different fictitious force structures. The criteria are determined by two qualities: least impedance errors during the validation procedure and least parameter variance during the recursive estimation procedure. Finally, with the best fictitious force and its identified impedance, an impedance control is designed for a mobile robot Pioneer 3AT, which is programmed to follow a human in a structured scenario. According to results, and under the hypothesis that moving like humans will be acceptable by humans, it is believed that the proposed control improves the social acceptance of the robot for this kind of interaction.Fil: Herrera Anda, Daniel Esteban. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Roberti, Flavio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Toibero, Juan Marcos. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Carelli Albarracin, Ricardo Oscar. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentin

Using a 3DOF Parallel Robot and a Spherical Bat to hit a Ping-Pong Ball

Playing the game of Ping-Pong is a challenge to human abilities since it requires developing skills, such as fast reaction capabilities, precision of movement and high speed mental responses. These processes include the utilization of seven DOF of the human arm, and translational movements through the legs, torso, and other extremities of the body, which are used for developing different game strategies or simply imposing movements that affect the ball such as spinning movements. Computationally, Ping-Pong requires a huge quantity of joints and visual information to be processed and analysed, something which really represents a challenge for a robot. In addition, in order for a robot to develop the task mechanically, it requires a large and dexterous workspace, and good dynamic capacities. Although there are commercial robots that are able to play Ping-Pong, the game is still an open task, where there are problems to be solved and simplified. All robotic Ping-Pong players cited in the bibliography used at least four DOF to hit the ball. In this paper, a spherical bat mounted on a 3-DOF parallel robot is proposed. The spherical bat is used to drive the trajectory of a Ping-Pong ball.Fil: Trasloheros, Alberto. Universidad Aeronáutica de Querétaro; MéxicoFil: Sebastián, José María. Universidad Politécnica de Madrid; España. Consejo Superior de Investigaciones Científicas; EspañaFil: Torrijos, Jesús. Consejo Superior de Investigaciones Científicas; España. Universidad Politécnica de Madrid; EspañaFil: Carelli Albarracin, Ricardo Oscar. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Roberti, Flavio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentin

Evaluation of microbial products for the control of zucchini foot and root rot caused by Fusarium solani f. sp. cucurbitae race 1

Microbial products containing bacteria (Cedomon [Pseudomonas chlororaphis MA342, PC-MA342], Mycostop [Streptomyces sp. K61, SG-K61], Proradix®Agro [Pseudomonas sp. DSMZ13134, PS-DSMZ13134]) and fungi (Clonotry [Trichoderma harzianum and Clonostachys rosea, TH+CR], Remedier [T. asperellum ICC012 and T. gamsii ICC080, TA-ICC012+TG-ICC080], Rootshield WP [T. harzianum T22, TH-T22]) were tested for efficacy against Fusarium solani f. sp. cucurbitae race 1 (FSC7 strain) on zucchini. They were applied to seeds (S), plant growth substrate (PGS) and both (S+PGS) in a growth chamber experiment, and to PGS, transplantation soil mixture (TSM) and both (PGS+TSM) in a greenhouse experiment. FSC7 was inoculated in PGS at sowing time in the growth chamber and in TSM at transplant in the greenhouse. In the growth chamber, the most effective products were Cedomon (S and S+PGS treatments), Rootshield (PGS treatment) and Proradix (S+PGS treatment), reducing the disease by 39.7, 43.1, 25.8 and 36.4%, respectively. In the greenhouse, all tested products applied to PGS reduced the disease severity and more markedly when applied to PGS+TSM. In the PGS and PGS+TSM treatments, Cedomon was the most effective product showing a disease decrease by 42.4 and 59.5%, respectively. The data obtained in vivo were consistent with the ability of the antagonists to colonize zucchini rhizosphere and with their inhibitory effects on the growth of the pathogen in in vitro assays. The bacteria caused the greatest growth inhibition of FSC7 showing abnormal morphology, while Trichoderma spp. parasitized FSC7 hyphae. Bacteria were the most active in reducing pathogen colony growth through antibiotic metabolites. All antagonists produced exo and endochitinase enzymes. Trichoderma strains showed greater levels of β-N-acetylhexosaminidase and endochitinase, whereas SG-K61 was the most active producer of chitin 1,4-β-chitobiosidase. These results indicate that the studied bioproducts have potential for an effective management of zucchini Fusarium foot and root rot through rhizosphere competence and several mechanisms exerted by their microbial ingredients

Adaptive 3D Visual Servoing of a Scara Robot Manipulator with Unknown Dynamic and Vision System Parameters

In the present work, we develop an adaptive dynamic controller based on monocular vision for the tracking of objects with a three-degrees of freedom (DOF) Scara robot manipulator. The main characteristic of the proposed control scheme is that it considers the robot dynamics, the depth of the moving object, and the mounting of the fixed camera to be unknown. The design of the control algorithm is based on an adaptive kinematic visual servo controller whose objective is the tracking of moving objects even with uncertainties in the parameters of the camera and its mounting. The design also includes a dynamic controller in cascade with the former one whose objective is to compensate the dynamics of the manipulator by generating the final control actions to the robot even with uncertainties in the parameters of its dynamic model. Using Lyapunov’s theory, we analyze the two proposed adaptive controllers for stability properties, and, through simulations, the performance of the complete control scheme is shown.Fil: Sarapura, Jorge Antonio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Roberti, Flavio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Carelli Albarracin, Ricardo Oscar. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentin

Control Servo-Visual de un Robot Manipulador Planar Basado en Pasividad

En este trabajo se diseña un controlador servo visual basado en la propiedad de pasividad del sistema visual. Se propone un regulador con ganancias de control variables, de tal manera que se evita la saturacion de los actuadores y al mismo tiempo presenta la capacidad de corregir errores de pequena magnitud. Asimismo el diseno se hace teniendo en cuenta el desempeno L2, a fin de darle capacidad de seguimiento de objetos en movimiento, con un error de control pequeno. Se muestran resultados experimentales realizados en un robot manipulador industrial tipo planar para verificar el cumplimiento de los objetivos del controlador propuesto

Evaluation of microbial products for the control of zucchini foot and root rot caused by Fusarium solani f. sp. cucurbitae race 1

Microbial products containing bacteria (Cedomon [Pseudomonas chlororaphis MA342, PC-MA342], Mycostop [Streptomyces sp. K61, SG-K61], Proradix®Agro [Pseudomonas sp. DSMZ13134, PS-DSMZ13134]) and fungi (Clonotry [Trichoderma harzianum and Clonostachys rosea, TH+CR], Remedier [T. asperellum ICC012 and T. gamsii ICC080, TA-ICC012+TG-ICC080], Rootshield WP [T. harzianum T22, TH-T22]) were tested for efficacy against Fusarium solani f. sp. cucurbitae race 1 (FSC7 strain) on zucchini. They were applied to seeds (S), plant growth substrate (PGS) and both (S+PGS) in a growth chamber experiment, and to PGS, transplantation soil mixture (TSM) and both (PGS+TSM) in a greenhouse experiment. FSC7 was inoculated in PGS at sowing time in the growth chamber and in TSM at transplant in the greenhouse. In the growth chamber, the most effective products were Cedomon (S and S+PGS treatments), Rootshield (PGS treatment) and Proradix (S+PGS treatment), reducing the disease by 39.7, 43.1, 25.8 and 36.4%, respectively. In the greenhouse, all tested products applied to PGS reduced the disease severity and more markedly when applied to PGS+TSM. In the PGS and PGS+TSM treatments, Cedomon was the most effective product showing a disease decrease by 42.4 and 59.5%, respectively. The data obtained in vivo were consistent with the ability of the antagonists to colonize zucchini rhizosphere and with their inhibitory effects on the growth of the pathogen in in vitro assays. The bacteria caused the greatest growth inhibition of FSC7 showing abnormal morphology, while Trichoderma spp. parasitized FSC7 hyphae. Bacteria were the most active in reducing pathogen colony growth through antibiotic metabolites. All antagonists produced exo- and endochitinase enzymes. Trichoderma strains showed greater levels of β-N-acetylhexosaminidase and endochitinase, whereas SG-K61 was the most active producer of chitin 1,4-β-chitobiosidase. These results indicate that the studied bioproducts have potential for an effective management of zucchini Fusarium foot and root rot through rhizosphere competence and several mechanisms exerted by their microbial ingredients