Suchergebnisse

Mobile Roboter können durch ihre hohe Anpassungsfähigkeit und Ortsunabhängigkeit zur Flexibilisierung der Produktion beitragen. In der Praxis wird die Einsatzplanung über Flottenmanagementsysteme ohne Berücksichtigung des auftragsspezifischen Energiebedarfs durchgeführt. Die Kenntnis darüber führt aber zu einer Erhöhung der Verfügbarkeit und Energieeffizienz sowie zu einer Verbesserung der Disposition. In diesem Beitrag werden Strategien zur energieorientierten Leitsteuerung mobiler Roboter vorgestellt und simulativ bewertet.
 
Mobile robots may contribute to flexibility in production with heir high adaptability and independence of location. In practice, scheduling is done via fleet management systems without considering order-specific energy demand. However, knowledge of this leads to an increase in availability and energy efficiency as well as to an improvement in disposition. This paper presents strategies for energy-oriented control of mobile robots and evaluates them by simulation.

International audience ; Current robotics advances offer consequent potential for assistance, not only for individuals, but also for professionals operating on the ground, such as firemen or military. However, such operators must stay focused on their mission; hence they expect a non-invasive, intuitive control system, disrupting them as least as possible. Furthermore, the inherent mobility arising from such missions (walking, running, jumping) must not be an obstacle to gesture recognition. Here, we present a glove-based gesture detection algorithm, whose learning phase is instantaneous among a large span of possible gestures. It has been evaluated on a seven-word dictionary dedicated for the purpose of robot control, with satisfying recognition results. ; Les progrès actuels de la robotique offrent des opportunités considérables , pas seulement pour les particuliers mais également les professionnels en mission, tels que des pompiers ou militaires. Cependant, ce type d'opérateurs doit rester focalisé sur sa mission et attend donc un moyen de contrôle qui soit peu intrusif et tr es intuitif. De plus, il est indispensable de livrer un système qui prend en compte la mobilité intrinsèque à ce type d'activité (marche, course, saut). Nous présentons ici un système de reconnaissance gestuelle à base de gant de données , à l'apprentissage instantané sur une large gamme de gestes possibles. Nous l'avons évalué sur sept gestes dédiés au contrôle d'un robot mobile, avec des résultats tout à fait satisfaisants.

International audience ; Current robotics advances offer consequent potential for assistance, not only for individuals, but also for professionals operating on the ground, such as firemen or military. However, such operators must stay focused on their mission; hence they expect a non-invasive, intuitive control system, disrupting them as least as possible. Furthermore, the inherent mobility arising from such missions (walking, running, jumping) must not be an obstacle to gesture recognition. Here, we present a glove-based gesture detection algorithm, whose learning phase is instantaneous among a large span of possible gestures. It has been evaluated on a seven-word dictionary dedicated for the purpose of robot control, with satisfying recognition results. ; Les progrès actuels de la robotique offrent des opportunités considérables , pas seulement pour les particuliers mais également les professionnels en mission, tels que des pompiers ou militaires. Cependant, ce type d'opérateurs doit rester focalisé sur sa mission et attend donc un moyen de contrôle qui soit peu intrusif et tr es intuitif. De plus, il est indispensable de livrer un système qui prend en compte la mobilité intrinsèque à ce type d'activité (marche, course, saut). Nous présentons ici un système de reconnaissance gestuelle à base de gant de données , à l'apprentissage instantané sur une large gamme de gestes possibles. Nous l'avons évalué sur sept gestes dédiés au contrôle d'un robot mobile, avec des résultats tout à fait satisfaisants.

Durch die im Rahmen der Industrie 4.0 forcierte Entwicklung zu einer dynamischen, wandlungsfähigen und flexiblen Produktion ergeben sich vor allem für die Produktionsplanung und -steuerung (PPS) neue Herausforderungen. Neben einem robusten Produktionsablauf und dynamischen Einflüssen müssen in Zukunft neue Ressourcen bei der Auftragsplanung berücksichtigt werden. Die Einplanung mobiler Robotersysteme ruft zusätzliche Einflussfaktoren hervor, die PPS-seitig bewerkstelligt werden müssen.
 
The development towards dynamic, versatile and flexible production systems in the context of Industry 4.0 creates new challenges for production planning and control (PPC). Next to a robust production process and dynamic influences, new resources have to be taken into account in the future. The scheduling of mobile autonomous robot systems is an additional influencing factor that has to be considered by PPC systems.

Robotter vil om få år blive en del af vores daglige liv. Inden for produktionsindustrien har det allerede være tilfældet i mange år, men anvendelsen af mobile robotter har hidtil været henvist til isolerede områder som græsslåning, overvågning, landbrugsproduktion og militære funktioner. Fremskridt i forskningen gør, at robotter vil kunne assistere os i mange af vore daglige gøremål i en ikke så fjern fremtid. En af de teknologier, der skal gøre dette muligt, er navigation, og navigation er emnet for denne afhandling. Navigation for autonome robotter handler om robottens evne til autonomt at manøvrere fra den nuværende position til et ønsket bestemmelsessted. Denne afhandling præsenterer og validerer eksperimentelt løsninger til detektering af farbar vej, omgåelse af forhindringer og gennemførelse af missioner. Vejklassifikationen er baseret på laserscanner-målinger og assisteret med vision for længere rækkevidde. Vejklassifikationen er tilstrækkelig selektiv til at kunne adskille selv flade vejrabatter fra selve vejen og kan isolere asfaltveje fra grusveje. Vejgenkendelse ud fra kamerabilleder tager udgangspunkt i klassifikationen fra laserscanneren og bruger en kombination af farve og kantdetektering til at estimere farbar vej på længere afstande. Resultatet af disse to sensorer anvendes under planlægning af en farbar rute, og her er det især robottens evne til at følge vejens kanter, der er undersøgt. Navigationen i en mission er styret af et sekventielt manuskript. Manuskriptsproget giver mulighed for detektering af vejkryds, for beregninger til brug under passagen af disse kryds og til valg a styringsmetode i øvrigt. Det samlede system er testet på en kombination af asfalt- og grusveje, med et antal forgreninger og vejkryds. Missioner på op til 3km længde er gennemkørt autonomt med det beskrevne system. Fokus i afhandlingen har været den eksperimentelle validering af de implementerede metoder og metodernes evne til at løse problemer i en virkelig verden. Der skal en betydelig mængde software til for at styre en autonom robot, emner som software genbrug og distribueret udvikling er derfor essentielle. Denne afhandling beskriver yderligere en komponentbaseret arkitektur for robotter, som kan fremme software genbrug og distribueret udvikling og vedligeholdelse. ; Abstract Robots will soon take part in everyone's daily life. In industrial production this has been the case for many years, but up to now the use of mobile robots has been limited to a few and isolated applications like lawn mowing, surveillance, agricultural production and military applications. The research is now progressing towards autonomous robots which will be able to assist us in our daily life. One of the enabling technologies is navigation, and navigation is the subject of this thesis. Navigation of an autonomous robot is concerned with the ability of the robot to direct itself from the current position to a desired destination. This thesis presents and experimentally validates solutions for road classification, obstacle avoidance and mission execution. The road classification is based on laser scanner measurements and supported at longer ranges by vision. The road classification is sufficiently sensitive to separate the road from flat roadsides, and to distinguish asphalt roads from gravelled roads. The vision-based road detection uses a combination of chromaticity and edge detection to outline the traversable part of the road based on a laser scanner classified sample area. The perception of these two sensors are utilised by a path planner to allow a number of drive modes, and especially the ability to follow road edges are investigated. The navigation mission is controlled by a script language. The navigation script controls route sequencing, junction detection, junction crossing calculations and drive mode selection. The entire system is tested on a combination of narrow asphalt and gravelled roads connected by a number of junctions. Missions of up to 3km in length have been successfully completed using the described system. The main focus of the thesis has been the experimental validation of the implemented solutions and the ability of the methods to solve real world problems. The amount of software needed by an autonomous robot can be overwhelming. Software reuse and distributed development are therefore important issues. The thesis describes a new component architecture for robotics software that promotes software reuse and distributed development and maintenance.

Die Produktion ist geprägt durch einen Antagonismus aus Flexibilität und Produktivität. Autonome Roboter mit maschinell erlernten Fähigkeiten weisen Potenzial auf, das Spannungsfeld zu entlasten. Allerdings bedarf es aufgrund von Fehleranfälligkeit solcher Systeme Strategien zur Entstörung. Im Beitrag vorgestellt werden Methoden für die Vorortunterstützung mittels Werkerführung sowie zur Entstörung aus der Ferne mittels Teleoperation.
 
Production is characterized by an antagonism between flexibility and productivity. Autonomous robots with learned skills show potential for relieving existing challenges. However, present failure susceptibility requires efficient intervention strategies to allow a technology establishment. This paper presents methods for on-site support based on a factory worker guidance system as well as remote assistance through tele-operation.

Megatrends wie die Kundenindividualisierung erfordern eine gesteigerte Wandlungsfähigkeit in der Produktion. Mobile Roboter zeigen hier großes Potenzial durch ihre Ortsungebundenheit, Skalierbarkeit und Konfigurationsfähigkeit. Vorgestellt wird ein Ansatz zur dynamischen Adaption durch modulare Softwarebausteine (Apps). Auf dieser Basis wird die Integration dieses Konzepts in die Gesamtarchitektur einer Smart Factory und die zugehörige Produktionsplanung beschrieben.
 
Megatrends such as mass customization require an increasing transformability in production. Mobile robots hold great potential to address this challenge. They can freely move to different locations, are scalable and configurable to various tasks. Thus, an approach for the dynamic adaption through modular software packages (apps) is introduced. Based on this, the integration of the concept into the entire architecture of a smart factory and related planning systems is presented.

(c) 2015 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. ; [EN] This paper presents noniterative linearizationbased controllers for nonlinear unconstrained systems, coined as extended Rauch Tung Striebel (ERTS) and unscented Rauch Tung Striebel (URTS) controllers, derived from the duality between optimal control and estimation. The proposed controllers use a Rauch Tung Striebel forward backward smoother as an state estimator to compute the original optimal control problem. The new controllers are applied to trajectory-following problems of differential-drive mobile robots and compared with iterative linear quadratic regulator controller, nonlinear model predictive control, and approximate inference approaches. Simulations show that ERTS and URTS controllers produce almost optimal solutions with a significantly lower computing time, avoiding initialization issues in the other algorithms (in fact, they can be used to initialize them). This paper validates ERTS controller with an experiment of a Pioneer 3-DX mobile robot. ; This work was supported in part by the PrometeoII/2013/004 through the Generalitat Valenciana, in part by the Spanish Government under Project DPI2011-27845-C02-01, in part by the VALi+d Program through the Generalitat Valenciana, in part by the European Regional Development Fund through the Ministry of Education, Youth and Sports, Czech Republic, under Project CZ.1.05/2.1.00/03.0094, in part by the Regional Innovation Centre for Electrical Engineering, and in part by the Czech Science Foundation under Project GACR P 102/11/0437. Recommended by Associate Editor A. G. Aghdam. ; Armesto Ángel, L.; Girbés, V.; Sala, A.; Miroslav Zima; Václav mídl (2015). Duality-Based Nonlinear Quadratic Control: ...

Mobile intelligent autonomous systems (MIAS) is a fast emerging research area. Although it can be regarded as a general R&D area, it is mainly directed towards robotics. Several important subtopics within MIAS research are:(i) perception and reasoning, (ii) mobility and navigation,(iii) haptics and teleoperation, (iv) image fusion/computervision, (v) modelling of manipulators, (vi) hardware/software architectures for planning and behaviour learning leadingto robotic architecture, (vii) vehicle-robot path and motionplanning/control, (viii) human-machine interfaces for interaction between humans and robots, and (ix) application of artificial neural networks (ANNs), fuzzy logic/systems (FLS),probabilistic/approximate reasoning (PAR), Bayesian networks(BN) and genetic algorithms (GA) to the above-mentioned problems. Also, multi-sensor data fusion (MSDF) playsvery crucial role at many levels of the data fusion process:(i) kinematic fusion (position/bearing tracking), (ii) imagefusion (for scene recognition), (iii) information fusion (forbuilding world models), and (iv) decision fusion (for tracking,control actions). The MIAS as a technology is useful for automation of complex tasks, surveillance in a hazardousand hostile environment, human-assistance in very difficultmanual works, medical robotics, hospital systems, autodiagnosticsystems, and many other related civil and military systems. Also, other important research areas for MIAScomprise sensor/actuator modelling, failure management/reconfiguration, scene understanding, knowledge representation, learning and decision-making. Examples ofdynamic systems considered within the MIAS would be:autonomous systems (unmanned ground vehicles, unmannedaerial vehicles, micro/mini air vehicles, and autonomousunder water vehicles), mobile/fixed robotic systems, dexterousmanipulator robots, mining robots, surveillance systems,and networked/multi-robot systems, to name a few.Defence Science Journal, 2010, 60(1), pp.3-4, DOI:http://dx.doi.org/10.14429/dsj.60.92

The final publication is available at Springer via http://dx.doi.org/10.1007/978-3-642-28765-7_67 ; This article presents the experimental work developed to test the viability and to measure the efficiency of an intelligent control distributed architecture. To do this, a simulated navigation scenario of Braitenberg vehicles has been developed. To test the efficiency, the architecture uses the performance as QoS parameter. The measuring of the quality of the navigation is done through the ITAE QoC parameter. Tested scenarios are: an environment without QoS and QoC man-aging, an environment with a relevant message filtering and an environment with a predictive filtering by the type of control. The results obtained show that some of the processing performed in the control nodes can be moved to the middleware to optimize the robot navigation. ; The work described in this article is a part of the coordinated project SIDIRELI: (Distributed Systems with Limited Resources) and COBAMI (Mission-Based Control) Education and Science Department, Spanish Government and European FEDER found. MICINN CICYT: SIDIRELI: DPI2008-06737-C02-01/02, COBAMI: DPI2011-28507-C02-02. ; Poza-Lujan, J.; Posadas-Yagüe, J.; Simó Ten, JE. (2012). Relationship between quality of control and quality of service in mobile robot navigation. En Distributed Computing and Artificial Intelligence: 9th International Conference. Springer. 557-564. https://doi.org/10.1007/978-3-642-28765-7_67 ; S ; 557 ; 564 ; Vogel, A., Kerherve, B., von Bochmann, G., Gecsei, J.: Distributed Multimedia and QoS: A Survey. IEEE Multimedia 2(2), 10–19 (1995) ; Crawley, E., Nair, R., Rajagopalan, B.: RFC 2386: A Framework for QoS-based Routing in the Internet. IETF Internet Draft, 1–37 (1998) ; Bradner, S.: RFC 2026: The Internet Standards Process. IETF Internet Draft, sec.10 (1996) ; Object Management Group (OMG): Data Distribution Service for Real-Time Systems, v1.1. Document formal (April 12, 2005) ; Poza, J.L., Posadas, J.L., Simó, J.E.: QoS-based middleware architecture ...