Design and Implementation of a Computer Vision System for an Autonomous Chess-Playing Robot

This work describes a mechatronic system composed by a robot arm that can play chess autonomously. The system is based on an industrial-grade robot manipulator, a computer vision system, and an open source chess engine. Classification algorithms were implemented in order to detect whether a given chessboard square is occupied, and in that case, if the piece is black or white. Such algorithms were compared in terms of their complexity of implementation, execution time and accuracy of predictions. To achieve an uniform illumination of the chessboard, a theoretical model of an LED illuminance curve was used to find the best orientation for each diode using a genetic algorithm. Both the support base for the LEDs and the chess pieces were made using a 3D printer. This implementation demonstrates the capabilities of the proposed vision-based system, whose complexity can be increased in the future for a number of applications.Facultad de Informátic

Design and Implementation of a Computer Vision System for an Autonomous Chess-Playing Robot

This work describes a mechatronic system composed by a robot arm that can play chess autonomously. The system is based on an industrial-grade robot manipulator, a computer vision system, and an open source chess engine. Classification algorithms were implemented in order to detect whether a given chessboard square is occupied, and in that case, if the piece is black or white. Such algorithms were compared in terms of their complexity of implementation, execution time and accuracy of predictions. To achieve an uniform illumination of the chessboard, a theoretical model of an LED illuminance curve was used to find the best orientation for each diode using a genetic algorithm. Both the support base for the LEDs and the chess pieces were made using a 3D printer. This implementation demonstrates the capabilities of the proposed vision-based system, whose complexity can be increased in the future for a number of applications.Facultad de Informátic

Robot ajedrecista: sistema mecatrónico aplicado a la toma de decisiones

Este trabajo presenta un sistema mecatrónico compuesto por un brazo robótico que juega ajedrez de forma autónoma. El sistema se basa en un robot manipulador de tipo industrial, un sistema de visión artificial, y un motor de juego basado en software libre. La robótica aplicada a juegos interactivos constituye un excelente problema para explorar la colaboración humana-robot, ya que presenta una estructura cuya complejidad puede ser gradualmente incrementada. Por lo tanto, este desarrollo debe entenderse como una primera aplicación exitosa de un sistema mecatrónico de toma de decisiones factible de migrar a otros usos y contextos.Sociedad Argentina de Informática e Investigación Operativa (SADIO

Robot ajedrecista: sistema mecatrónico aplicado a la toma de decisiones

Este trabajo presenta un sistema mecatrónico compuesto por un brazo robótico que juega ajedrez de forma autónoma. El sistema se basa en un robot manipulador de tipo industrial, un sistema de visión artificial, y un motor de juego basado en software libre. La robótica aplicada a juegos interactivos constituye un excelente problema para explorar la colaboración humana-robot, ya que presenta una estructura cuya complejidad puede ser gradualmente incrementada. Por lo tanto, este desarrollo debe entenderse como una primera aplicación exitosa de un sistema mecatrónico de toma de decisiones factible de migrar a otros usos y contextos.Sociedad Argentina de Informática e Investigación Operativa (SADIO

Robot ajedrecista: sistema mecatrónico aplicado a la toma de decisiones

Este trabajo presenta un sistema mecatrónico compuesto por un brazo robótico que juega ajedrez de forma autónoma. El sistema se basa en un robot manipulador de tipo industrial, un sistema de visión artificial, y un motor de juego basado en software libre. La robótica aplicada a juegos interactivos constituye un excelente problema para explorar la colaboración humana-robot, ya que presenta una estructura cuya complejidad puede ser gradualmente incrementada. Por lo tanto, este desarrollo debe entenderse como una primera aplicación exitosa de un sistema mecatrónico de toma de decisiones factible de migrar a otros usos y contextos.Sociedad Argentina de Informática e Investigación Operativa (SADIO

Design and Implementation of a Computer Vision System for an Autonomous Chess-Playing Robot

This work describes a mechatronic system composed by a robot arm that can play chess autonomously. The system is based on an industrial-grade robot manipulator, a computer vision system, and an open source chess engine. Classification algorithms were implemented in order to detect whether a given chessboard square is occupied, and in that case, if the piece is black or white. Such algorithms were compared in terms of their complexity of implementation, execution time and accuracy of predictions. To achieve an uniform illumination of the chessboard, a theoretical model of an LED illuminance curve was used to find the best orientation for each diode using a genetic algorithm. Both the support base for the LEDs and the chess pieces were made using a 3D printer. This implementation demonstrates the capabilities of the proposed vision-based system, whose complexity can be increased in the future for a number of applications.Facultad de Informátic

Design and Implementation of a Computer Vision System for an Autonomous Chess-Playing Robot

This work describes a mechatronic system composed by a robot arm that can play chess autonomously. The system is based on an industrial-grade robot manipulator, a computer vision system, and an open source chess engine. Classification algorithms were implemented in order to detect whether a given chessboard square is occupied, and in that case, if the piece is black or white. Such algorithms were compared in terms of their complexity of implementation, execution time and accuracy of predictions. To achieve an uniform illumination of the chessboard, a theoretical model of an LED illuminance curve was used to find the best orientation for each diode using a genetic algorithm. Both the support base for the LEDs and the chess pieces were made using a 3D printer. This implementation demonstrates the capabilities of the proposed vision-based system, whose complexity can be increased in the future for a number of applications.Fil: Larregay, Guillermo Omar. Universidad Nacional de San Luis. Facultad de Ingeniería y Ciencias Agropecuarias; ArgentinaFil: Pinna Gonzalez, Federico Luis. Universidad Nacional de San Luis. Facultad de Ingeniería y Ciencias Agropecuarias; ArgentinaFil: Avila, Luis Omar. Universidad Nacional de San Luis. Facultad de Ciencias Físico Matemáticas y Naturales. Departamento de Informática. Laboratorio Investigación y Desarrollo en Inteligencia Computacional; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Luis; ArgentinaFil: Morán, Oscar Daniel. Universidad Nacional de San Luis. Facultad de Ingeniería y Ciencias Agropecuarias; Argentin

A grasp detection method for industrial robots using a Convolutional Neural Network

In the near future, most of the industrial robots will serve as assistants involved in targeted complex manufacturing tasks which are difficult to be automated. To achieve this, it is crucial to enhance the ability of manipulators to pick and place objects from the assembly line. Reorienting and picking up pieces for assembly are difficult tasks to be done by manipulators since, for different pieces, shapes and physical properties vary. In this work, we use Convolutional Neural Networks for recognizing a selected production piece on a cluster. Once the selected piece has been recognized, a grasping algorithm estimates the best gripper configuration so that the robot is able to pick the piece up. Wetested our algorithm on grasping experiments with an ABB robot and using a common webcam as image input. We found that our implementations perform well and the robot was able to pick up a variety of objects.Fil: Ogas, Elio. Universidad Nacional de San Luis. Facultad de Ingeniería y Ciencias Agropecuarias; ArgentinaFil: Avila, Luis Omar. Universidad Nacional de San Luis. Facultad de Ingeniería y Ciencias Agropecuarias; Argentina. Universidad Nacional de San Luis. Facultad de Ciencias Físico Matemáticas y Naturales. Departamento de Informática. Laboratorio Investigación y Desarrollo en Inteligencia Computacional; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Luis; ArgentinaFil: Larregay, Guillermo Omar. Universidad Nacional de San Luis. Facultad de Ingeniería y Ciencias Agropecuarias; ArgentinaFil: Morán, Oscar Daniel. Universidad Nacional de San Luis. Facultad de Ingeniería y Ciencias Agropecuarias; Argentin

IDA-PBC controller of a DC-DC boost converter for continuous and discontinuous conduction mode

A passivity based non-linear control strategy to regulate the output voltage of a boost converter is proposed in this paper. The controller can work in both, continuous and discontinuous conduction mode. A modification in the classical averaged model of the converter is performed with the aim to include the discontinuous conduction mode operation condition. The control strategy is designed using Interconnection and Damping Assignment which ensures the stability of the closed loop system. The performance of the proposal is validated with simulations and experimental results.Fil: Serra, Federico Martin. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Luis. Instituto de Investigaciones en Tecnología Química. Universidad Nacional de San Luis. Facultad de Química, Bioquímica y Farmacia. Instituto de Investigaciones en Tecnología Química; Argentina. Universidad Nacional de San Luis. Facultad de Ingeniería y Ciencias Agropecuarias. Laboratorio de Control Automático; ArgentinaFil: Magaldi, Guillermo Luciano. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Luis. Instituto de Investigaciones en Tecnología Química. Universidad Nacional de San Luis. Facultad de Química, Bioquímica y Farmacia. Instituto de Investigaciones en Tecnología Química; Argentina. Universidad Nacional de San Luis. Facultad de Ingeniería y Ciencias Agropecuarias. Laboratorio de Control Automático; ArgentinaFil: Martín Fernández, Lucas Luciano. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Luis. Instituto de Investigaciones en Tecnología Química. Universidad Nacional de San Luis. Facultad de Química, Bioquímica y Farmacia. Instituto de Investigaciones en Tecnología Química; Argentina. Universidad Nacional de San Luis. Facultad de Ingeniería y Ciencias Agropecuarias. Laboratorio de Control Automático; ArgentinaFil: Larregay, Guillermo Omar. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Luis. Instituto de Investigaciones en Tecnología Química. Universidad Nacional de San Luis. Facultad de Química, Bioquímica y Farmacia. Instituto de Investigaciones en Tecnología Química; Argentina. Universidad Nacional de San Luis. Facultad de Ingeniería y Ciencias Agropecuarias; ArgentinaFil: de Angelo, Cristian Hernan. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Córdoba; Argentina. Universidad Nacional de Río Cuarto. Facultad de Ingeniería. Grupo de Electrónica Aplicada; Argentin