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1
Hadmark, Julia, und Elin Nilsson. „Knowledge creation within an innovative unit : A case study of Robotic Mowers“. Thesis, Jönköping University, JIBS, Business Administration, 2008. http://urn.kb.se/resolve?urn=urn:nbn:se:hj:diva-1363.
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Problem
Knowledge is becoming ever more vital in today’s economy and organisations are realising the need to act on the advantages it provides. Knowledge is complex and contradictory, making it difficult to be created and managed by organisations.
Purpose
The purpose of this research is to see how knowledge is created and subsequently managed within an environment characterised by progress and innovation, and to identify the most problematic areas in knowledge creation processes as well as suggest improvements.
Method
Overall, qualitative methods were used in this study. In-depth interviews were conducted with management level within three product development units, two of these were only used for support to the third and main case, Robotic Mowers. Issues of trustworthiness and ethical implications were confronted in order to provide the most advantageous method to conduct the study.
Result
Knowledge creation at Robotic Mowers originates from both external and internal sources. The most important external source and activity to create knowledge are suppliers/consultants and the most important internal sources is the use of tests. Further, the unit has a highly informal approach to the creation of knowledge and the management of it. Support to knowledge creation is mainly found in cultural aspects.
Conclusion
The unit’s knowledge creation is dependent on informal and unstructured interaction among group members and to external parties. Overall, low managerial control is exercised and the group has developed a strong culture that enhances informal ways of knowledge creation and its management. The main problem of knowledge creation is that the group fails to realise a long-term need, which is revealed through inadequate efforts in trying to turn tacit knowledge into explicit knowledge.
2
Poretti, Michael John. „Design of a Robotic Arm Manipulator Camera Unit for Mini Underwater Remotely Operated Vehicles“. DigitalCommons@CalPoly, 2013. https://digitalcommons.calpoly.edu/theses/1140.
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Underwater remotely operated vehicles are essential tools for marine researchers and workers. Their robust nature allows them to serve a wide range of purposes. For example, they can be used for remote visual inspection of pipelines and can manipulate tools such as screwdrivers and claws. Cameras are the main method for providing operator feedback to the surface as they enable an operator to accurately maneuver or handle objects from thousands of feet away. Although large ROVs have cameras attached to their robotic arms for closer inspection of objects, mini ROVs do not because no camera tool has been specifically designed to support the low-cost, lightweight design of a mini ROV. This thesis discusses the design considerations, component selection, and system prototype (including the use of image processing to improve the underwater image for the operatorʼs viewing) of an affordable camera unit for mini ROV robotic manipulators.
3
Šimůnek, Petr. „Digitální zprovoznění robotizovaného pracoviště pro studený nástřik rotačních dílů“. Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2021. http://www.nusl.cz/ntk/nusl-444281.
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This work deals with the virtual and later real commissioning of the workplace for cold spraying of rotating parts, which is located in the laboratories of the Institute of Materials Science and Engineering, Faculty of Mechanical Engineering, Brno University of Technology. The workplace put into operation in this way serves the employees of the mentioned institute for experimental activities in the field of cold spraying. The theoretical part of the thesis describes all the essentials associated with virtual commissioning and the theory of cold spray. The practical part then deals with the creation of a robotic program, including the user interface, which is used to control the workplace. Part of this diploma thesis is also the realization of the connection between the external motor driver and the robot controller via the PROFINET communication bus.
4
Franc, Vladimír. „Návrh robotické buňky pro obsluhu vstřikolisů“. Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2019. http://www.nusl.cz/ntk/nusl-400976.
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The aim of this thesis is to design a robotic cell for automated injection molding operation. At the beginning of this paper, the input parameters and the assignment are analyzed. This is then followed up by the layout of the workplace, design of its equipment, selection of robots and the design of their end effectors and peripherals with regard to the specified boundary conditions and operator’s safety. The output of this work is a 3D cell model and its simulation model in PLM software Siemens Process Simulate, which verifies the production cycle time.
5
Shkurti, Thomas E. „SIMULATION AND CONTROL ENHANCEMENTS FOR THE DA VINCI SURGICAL ROBOT™“. Case Western Reserve University School of Graduate Studies / OhioLINK, 2019. http://rave.ohiolink.edu/etdc/view?acc_num=case1548248373927953.
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6
Tavsel, Onur Keçeci Emin Faruk. „Mechatronic design of an explosive ordnance disposal robot/“. [s.l.]: [s.n.], 2005. http://library.iyte.edu.tr/tezlerengelli/master/makinamuh/T000347.pdf.
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Thesis (Master)--İzmir Institute Of Technology, İzmir, 2005.Mechatronic systems, robots, explosive ordnance disposal robot, control in task space. Includes bibliographical references (leaves. 55-56).
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Makowski, Nathaniel Steven. „The Feasibility of an Upper Extremity Poststroke Neuroprosthesis“. Case Western Reserve University School of Graduate Studies / OhioLINK, 2013. http://rave.ohiolink.edu/etdc/view?acc_num=case1370619715.
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8
Greiner, Helen. „Robotic grasping of Orbital Replacement Units“. Thesis, Massachusetts Institute of Technology, 1989. http://hdl.handle.net/1721.1/111561.
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9
Erol, Umit Levent. „DEVELOPMENT OF A LOWER EXTREMITY EXOSKELETON POWER UNIT“. Case Western Reserve University School of Graduate Studies / OhioLINK, 2011. http://rave.ohiolink.edu/etdc/view?acc_num=case1619385500249639.
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10
Sarjoughian, Hessam Seyed 1959. „Intelligent agents and hierarchical constraint-driven diagnostic units for a teleoperated fluid handling laboratory“. Thesis, The University of Arizona, 1989. http://hdl.handle.net/10150/277219.
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The purpose of this thesis is to study and develop intelligent agents for the forthcoming Space Station Freedom. Relevant intelligent capabilities, which are necessary in a semi-autonomous laboratory environment, are assumed to be built into a robot. An intelligent controller based on the DEVS formalism and the event-based approach is considered for an experiment. We shall discuss multiple model representations, where each model is tailored toward a specific purpose. Considering the necessity of diagnostic capabilities, we shall discuss the possibility of hierarchical diagnostic units for the Space Station. A high-level diagnostic unit is implemented on the basis of an artificial intelligence scheme and a hierarchy of diagnosers. This thesis also discusses the need for real-time diagnostic units and real-time data acquisition. We shall consider a constraint driven diagnostic unit which utilizes the time/cost (i.e., the actual associated cost or time in inquiring information necessary for a diagnosis process) criterion in an attempt to locate the cause(s) of failures.
11
Sims, Patricia. „Basic Robotics Curriculum: An Introductionary Unit for Junior High School Students“. UNF Digital Commons, 1987. http://digitalcommons.unf.edu/etd/52.
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The purpose of this project was to research and develop a robotics curriculum appropriate to junior high school students. Specifically, this project developed a two-week, ten-hour robotic curriculum to introduce eighth-grade students to basic robotic concepts. After a careful examination of the related literature and after an evaluation of current trends in robotic education, objectives were developed. The objectives integrated content from industrial arts, science, college-level courses on robotics, and very basic concepts used in elementary schools as an introduction to robotics. Lessons were developed which used a multisensory approach and activities emphasized hands on experiences for students. Conclusions which were drawn after a review of related literature, development of the curriculum, and pilot testing are included along with recommendations for possible improvement and expansion of this project. The importance of keeping pace with developing technologies is stressed throughout the curriculum which was developed.
12
Lim, Wang Kyu. „Control algorithms for unit-load automatic guided vehicles“. Diss., Georgia Institute of Technology, 1988. http://hdl.handle.net/1853/25310.
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13
Coxon, Steven Vincent. „The malleability of spatial ability under treatment of a FIRST LEGO League-based robotics unit“. W&M ScholarWorks, 2012. https://scholarworks.wm.edu/etd/1550154042.
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14
Wang, Haidong. „Towards and Autonomous Mobile Control Unit of Smart Homes“. Thèse, Université d'Ottawa / University of Ottawa, 2013. http://hdl.handle.net/10393/24261.
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Since smart homes will be more and more popular in the future, the needs of finding
a friendly, comfortable and smart interface between users and home environments are
growing. However, conventional interfaces have reached their limits. So, this paper
describes a new concept of interface in a home environment. This work is distinguished
by building a separable smart robot. A smart phone is used as a brain, and a robot car
is used as a body. With the system, people will be allowed to carry the robot's brain
when they are out of their home. In this case, the brain can not only be a normal smart
phone, but also can monitor parameters such as the temperature at home. On the other
hand, when people are at home, they will be allowed to put their phones on the robot
car. By invoking the system, they will have an assist-robot. This assist-robot will act
as a new interface in the smart home by following people and recognizing their voice
commands in order to take notes, to read notes and to control smart home devices. This
thesis also implements face recognition to improve the communication between users and
the interface. Test results show that our proposed system is well accepted.
15
Essomba, Terence. „Contribution à la conception d'un système robotisé pour la télé-échographie“. Phd thesis, Université d'Orléans, 2012. http://tel.archives-ouvertes.fr/tel-00843651.
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L'apparition de la télé-échographie à la fin des années 1990 a largement contribué à l'améliorationdes capacités de prise en charge des patients. Aujourd'hui, le laboratoire PRISME bénéficie d'unsavoir faire reconnu dans la conception de systèmes de télé-échographie robotisée. L'objectif deces travaux de thèse est d'apporter une contribution scientifique et technique au projet ANR-PROSIT,qui vise à la mise en oeuvre d'un robot de télé-échographie innovant. Une étude du geste du praticienen milieu clinique a été menée afin d'en déterminer les caractéristiques cinématiques. Réalisée àl'aide du système de capture de mouvement Vicon Nexus, cette analyse a contribué à l'établissementdes spécifications du futur robot. Sa structure mécanique a fait l'objet d'une attention particulière. Unearchitecture parallèle sphérique a été sélectionnée, étudiée puis optimisée via un algorithmegénétique en fonction des critères d'espace de travail, de dextérité et de compacité. L'architectureainsi obtenue est ensuite analysée sur des aspects de collisions et d'inaccessibilité. Pour le contrôlede ce robot, l'utilisation d'une interface haptique à l'aspect proche d'une sonde d'échographie estproposée. Dotée d'un système de retour d'effort et d'une centrale inertielle fiabilisée par un filtre deKalman adaptatif, cette nouvelle interface a été testée et validée par le système Vicon Nexus.
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Pires, Felipe Augusto. „Avaliação de métodos de telereabilitação robótica utilizando comunicação TCP/IP e Unity“. Universidade de São Paulo, 2014. http://www.teses.usp.br/teses/disponiveis/18/18149/tde-19032015-163939/.
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Este trabalho apresenta o desenvolvimento de um ambiente de estudos para Telereabilitação Robótica utilizando jogos cooperativos desenvolvidos com o ambiente de desenvolvimento Unity e comunicação via sockets baseados em TCP/IP. Para tanto, fez-se necessário a implementação de um programa de controle de comunicação, um jogo e um sistema robótico. A fim de estudar este ambiente, foram implementados três métodos de comunicação entre o sistema robótico e o jogo, de acordo com a literatura. Os métodos são: Controle Teleoperado Direto (PD Simétrico), Controle Teleoperado por Variáveis de Ondas e Controle Teleoperado através de Ambiente Virtual. Para realizar a avaliação destes métodos foram implementados quatro simulações de atraso de comunicação, onde os seguintes parâmetros foram avaliados: estabilidade das mensagens enviadas e recebidas, sincronismos dos motores do sistema robótico e seus parâmetros (torque e velocidade) e sincronismo do sistema robótico com o ambiente lúdico (jogo). As situações de atraso criadas foram de: 1 milissegundo, 300 milissegundos, 600 milissegundos e 900 milissegundos. Todos os métodos implementados se mostraram suscetíveis a altos índices de atraso (especialmente ao testarmos atrasos artificiais de 600 e 900 milissegundos). O método que apresentou menores falhas foi o de controle de variáveis de ondas.This dissertation presents the development of an study environment for telerehabilitation robotics using cooperative games developed with Unity (Game Engine) and communication with sockets based on TCP/IP protocol. For this purpose, it was necessary to implement a control program of communication, one game and a robotic system. To study this environment, three methods of communication between the robotic system and the game according to the literature were implemented. These methods are: Direct Teleoperated Control (symmetrical PD), Teleoperated Control for Wave Variables and Teleoperated Control through Virtual Environment. In order to evaluate these methods were implemented four simulations delay of communication, where the following parameters were evaluated: stability of messages sent and received, timings of the motors of the robotic system and its parameters (torque and speed) and timing of the robotic system with playful environment (game). The delay simulations were created: 1 millisecond, 300 milliseconds, 600 milliseconds and 900 milliseconds. All implemented methods proved susceptible to high rates of delay (especially when we test artificial delays of 600 and 900 milliseconds). The method presented minor flaws was the Teleoperated Control for Wave Variables.
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Zhang, Yang. „Design and synthesis of mechanical systems with coupled units“. Thesis, Rennes, INSA, 2019. http://www.theses.fr/2019ISAR0004/document.
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Ce mémoire traite de nouveaux principes de conception qui sont inspirés par le couplage de deux unités représentant les différentes structures mécaniques. Les critères de conception optimale et les types d'unités combinées sont différents. Cependant, toutes les tâches sont considérées dans le couplage de ces unités. L'examen critique présenté dans le premier chapitre est divisé en trois sections en raison de la nature des problèmes traités: les robots marcheurs, les compensateurs de gravité et les robots collaboratifs. Le deuxième chapitre traite du développement de robots marcheurs à actionneur unique, conçus par couplage de deux mécanismes ayant les fonctionnants de jambe. Basée sur l'algorithme génétique, la synthèse proposée permet d'assurer la reproduction de la trajectoire obtenue à partir de la marche humaine. Par l'ajustement des paramètres géométriques des unités conçues, il devient possible non seulement d'assurer une marche du robot à des pas variables, mais également de monter les escaliers. Ensuite la conception et la synthèse des équilibreurs pour les robots sont considérés. Un costume robotisé type exosquelette permettant d'aider aux personnes transportant des charges lourdes est examiné dans le chapitre suivant La conception proposée présente une symbiose d'un support rigide et léger et d'un système de câbles monté sur ce support. L'étude et l'optimisation statique et dynamique ont conduit aux tests sur un mannequin. Le dernier chapitre propose l'étude et 'optimisation d'un système couplé, comprenant un manipulateur équilibré à commande manuelle et un robot collaboratif. Le but d'une telle coopération est de manipuler de lourdes charges avec un cobotThis thesis deals with the design principles, which arc based on the coupling of two mechanical structures. The criteria for optimal design and the types of combined units are different. However, all the tasks are considered in coupling of given mechanical units. The critical review given in the first chapter is divided into three sections due to the nature of the examined problems: legged walking robots, gravity compensators used in robots and collaborative robots. Chapter two deals with the development of single actuator walking robots designed by coupling of two mechanisms. Based on the Genetic Algorithm, the synthesis allows one to ensure the reproduction of prescribed points of the given trajectory obtained from the walking gait. By adjusting the geometric parameters of the designed units, it becomes possible not only to operate the robot at variable steps, but also to climb the stairs. The next chapter deals with the design and synthesis of gravity balancers. A robotic exosuit that can help people carrying heavy load is the subject of chapter four. The proposed exosuit presents a symbiosis of two systems: rigid lightweight support and cable system. Static and dynamic studies and optimization are considered. Experiments are also carried out on a mannequin test bench. The last chapter presents a coupled system including a hand-operated balanced manipulator and a collaborative robot. The aim of such a cooperation is to manipulate heavy payloads with less powerful robots. Dynamic analysis of the coupled system is perfonned and methods for reducing the oscillation of the HOBM at the final phase of the prescribed trajectories are proposed
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Silva, Ricardo Luís da Mota. „Removable odometry unit for vehicles with Ackermann steering“. Master's thesis, Universidade de Aveiro, 2014. http://hdl.handle.net/10773/13699.
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Mestrado em Engenharia MecânicaO principal objetivo deste trabalho é o desenvolvimento de uma solução de hodometria para veículos com direção Ackermann. A solução tinha que ser portátil, exível e fácil de montar. Após o estudo do estado da arte e uma pesquisa de soluções, a solução escolhida foi baseada em hodometria visual. Os passos seguintes do trabalho foram estudar a viabilidade de utilizar câmaras lineares para hodometria visual. O sensor de imagem foi usado para calcular a velocidade longitudinal; e a orientação da movimento foi calculado usando dois giroscópios. Para testar o método, várias experiências foram feitas; as experiências ocorreram indoor, sob condições controladas. Foi testada a capacidade de medir a velocidade em movimentos de linha reta, movimentos diagonais, movimentos circulares e movimentos com variação da distância ao solo. Os dados foram processados usando algoritmos de correlação e os foram resultados documentados. Com base nos resultados, é seguro concluir que hodometria com câmaras lineares auxiliado por sensores inerciais tem um potencial de aplicabilidade no mundo real.
The main objective of this work is to develop a solution of odometry for vehicles with Ackermann steering. The solution had to be portable, exible and easy to mount. After the study of the state of the art and a survey of solutions, the solution chosen was based on visual odometry. The following steps of the work were to study the feasibility to use line scan image sensors for visual odometry. The image sensor was used to compute the longitudinal velocity; and the orientation of motion was computed using two gyroscopes. To test the method, several experiments were made; the experiments took place indoor, under controlled conditions. It was tested the ability to measure velocity on straight line movements, diagonal movements, circular movements and movements with a changing distance from the ground. The data was processed with correlation algorithms and the results were documented. Based on the results it is safe to conclude that odometry with line scan sensors aided by inertial sensors has a potential for a real world applicability.
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Obr, Viktor. „Univerzální řídící jednotka pro jednoduché roboty“. Master's thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2014. http://www.nusl.cz/ntk/nusl-220354.
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The text of this master´s thesis deals with designing universal control unit for simple robots. In the first part of the thesis there is a list of robotics competitions which are organized to popularize robotics. The next part describes construction and individual components of simple robots used in these competitions. The third part includes description of parts used on this unit and its whole scheme together with its circuit board layout and mounting. The fourth part deals with construction of simple demo-robot with this control unit. The last part describes the software designing for the unit and checking its functionality.
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Lachnit, Zdeněk. „Použití inerciálních snímačů pro řízení mobilních robotů“. Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2009. http://www.nusl.cz/ntk/nusl-228689.
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The main subject of this thesis is use of inertial sensors for better motion and stability control of mobile robots. In background research are described the basic methods of mobile robots localization. Second part of background research is about mobile robot stability, in this part are described the methods of mobile robots stability control. In next part is description of MEMS accelerometers and gyroscopes and description of basic method of filtering and integration which are useful for input processing of these sensors. Thesis continues with inertial sensors analysis for application on control of wheeled and legged mobile robots. In end of thesis are specified the experiment results, which confirm the applicability of sensors for mobile robot control.
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Santos, Frederico Miguel do Céu Marques dos. „Architecture for real-time coordination of multiple autonomous mobile units“. Doctoral thesis, Universidade de Aveiro, 2014. http://hdl.handle.net/10773/13969.
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Doutoramento em Engenharia ElectrotécnicaInterest on using teams of mobile robots has been growing, due to their potential to cooperate for diverse purposes, such as rescue, de-mining, surveillance or even games such as robotic soccer. These applications require a real-time middleware and wireless communication protocol that can support an efficient and timely fusion of the perception data from different robots as well as the development of coordinated behaviours. Coordinating several autonomous robots towards achieving a common goal is currently a topic of high interest, which can be found in many application domains. Despite these different application domains, the technical problem of building an infrastructure to support the integration of the distributed perception and subsequent coordinated action is similar. This problem becomes tougher with stronger system dynamics, e.g., when the robots move faster or interact with fast objects, leading to tighter real-time constraints. This thesis work addressed computing architectures and wireless communication protocols to support efficient information sharing and coordination strategies taking into account the real-time nature of robot activities. The thesis makes two main claims. Firstly, we claim that despite the use of a wireless communication protocol that includes arbitration mechanisms, the self-organization of the team communications in a dynamic round that also accounts for variable team membership, effectively reduces collisions within the team, independently of its current composition, significantly improving the quality of the communications. We will validate this claim in terms of packet losses and communication latency. We show how such self-organization of the communications can be achieved in an efficient way with the Reconfigurable and Adaptive TDMA protocol. Secondly, we claim that the development of distributed perception, cooperation and coordinated action for teams of mobile robots can be simplified by using a shared memory middleware that replicates in each cooperating robot all necessary remote data, the Real-Time Database (RTDB) middleware. These remote data copies, which are updated in the background by the selforganizing communications protocol, are extended with age information automatically computed by the middleware and are locally accessible through fast primitives. We validate our claim showing a parsimonious use of the communication medium, improved timing information with respect to the shared data and the simplicity of use and effectiveness of the proposed middleware shown in several use cases, reinforced with a reasonable impact in the Middle Size League of RoboCup.
O interesse na utilização de equipas multi-robô tem vindo a crescer, devido ao seu potencial para cooperarem na resolução de vários problemas, tais como salvamento, desminagem, vigilância e até futebol robótico. Estas aplicações requerem uma infraestrutura de comunicação sem fios, em tempo real, suportando a fusão eficiente e atempada dos dados sensoriais de diferentes robôs bem como o desenvolvimento de comportamentos coordenados. A coordenação de vários robôs autónomos com vista a um dado objectivo é actualmente um tópico que suscita grande interesse, e que pode ser encontrado em muitos domínios de aplicação. Apesar das diferenças entre domínios de aplicação, o problema técnico de construir uma infraestrutura para suportar a integração da percepção distribuída e das acções coordenadas é similar. O problema torna-se mais difícil à medida que o dinamismo dos robôs se acentua, por exemplo, no caso de se moverem mais rápido, ou de interagirem com objectos que se movimentam rapidamente, dando origem a restrições de tempo-real mais apertadas. Este trabalho centrou-se no desenvolvimento de arquitecturas computacionais e protocolos de comunicação sem fios para suporte à partilha de informação e à realização de acções coordenadas, levando em consideração as restrições de tempo-real. A tese apresenta duas afirmações principais. Em primeiro lugar, apesar do uso de um protocolo de comunicação sem fios que inclui mecanismos de arbitragem, a auto-organização das comunicações reduz as colisões na equipa, independentemente da sua composição em cada momento. Esta afirmação é validada em termos de perda de pacotes e latência da comunicação. Mostra-se também como a auto-organização das comunicações pode ser atingida através da utilização de um protocolo TDMA reconfigurável e adaptável sem sincronização de relógio. A segunda afirmação propõe a utilização de um sistema de memória partilhada, com replicação nos diferentes robôs, para suportar o desenvolvimento de mecanismos de percepção distribuída, fusão sensorial, cooperação e coordenação numa equipa de robôs. O sistema concreto que foi desenvolvido é designado como Base de Dados de Tempo Real (RTDB). Os dados remotos, que são actualizados de forma transparente pelo sistema de comunicações auto-organizado, são estendidos com a respectiva idade e são disponibilizados localmente a cada robô através de primitivas de acesso eficientes. A RTDB facilita a utilização parcimoniosa da rede e bem como a manutenção de informação temporal rigorosa. A simplicidade da integração da RTDB para diferentes aplicações permitiu a sua efectiva utilização em diferentes projectos, nomeadamente no âmbito do RoboCup.
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Griffiths, Jenkins David. „Some aspects of user participation and the application of specifications in technology mediated educational innovation“. Doctoral thesis, Universitat Pompeu Fabra, 2009. http://hdl.handle.net/10803/7554.
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Aquesta tesi està constituïda per diverses activitats de recerca, entre les quals trobam principalment articles i capítols publicats. Es descriu el disseny d'una joguina robòtica que facilita la metacognició dels nens. Es detallen els nous mètodes de disseny participatiu desenvolupats per donar suport a aquest procés, com també els resultats de les experiències dins l'aula que varen validar la seva eficàcia. Aquestes experiències varen fer servir l'especificació Unit of Practice d'Apple, la qual posibilita la descripció normalitzada de de les activitats pedagògiques amb els recursos d'ensenyament tecnològics. L'enfocament de la investigació llavors se centra en les especificacions de IMS, que representen recursos i activitats pedagògiques en un format que els ordinadors poden processar. S'analitzen les eines necessàries per treballar amb aquestes especificacions. Es fa una distinció entre processos de disseny en móns tancats (dirigits a grups limitats d'usuaris) i oberts (dirigits a un grup obert o universal). Es descriuen els processos participatius de disseny en ambdós casos. Es tenen especialment en consideració les eines necessàries per treballar amb l'especificació IMS LD, i es desenvolupen models conceptuals per clarificar la tipologia de les eines i els seus usos.Es proposa la participació en les comunitats de pràctica com una metodologia per avaluar les necessitats, les eines, i l'ús de l'especificació.
This thesis is composed of a number of related research activities, which are principally represented by means of published papers. The design of a robotic toy to provide support for children's meta-cognition is described. The new participatory design methods developed to support this process are detailed, together with the results of field trials which validated its effectiveness. These trials make use of Apple's Unit of Practice specification for the consistent description of pedagogic activities with technological teaching resources. The investigation of IMS' machine readable representations of pedagogy, their use, and the tooling they require, then becomes the focus for the inquiry. A distinction is drawn between closed world design processes, addressed at a circumscribed user group, and open world design addressing a wide or universal user group. Participatory design processes in both contexts are described. A particular focus is tooling for the IMS LD specification, and conceptual models are developed to clarify its tooling and use. Engagement with communities of practice is proposed as a means of addressing open world design challenges, and this methodology is used to assess user needs, tooling and use of the specification.
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Runow, Björn. „Deep Learning for Point Detection in Images“. Thesis, Linköpings universitet, Datorseende, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-166644.
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The main result of this thesis is a deep learning model named BearNet, which can be trained to detect an arbitrary amount of objects as a set of points. The model is trained using the Weighted Hausdorff distance as loss function. BearNet has been applied and tested on two problems from the industry. These are: From an intensity image, detect two pocket points of an EU-pallet which an autonomous forklift could utilize when determining where to insert its forks. From a depth image, detect the start, bend and end points of a straw attached to a juice package, in order to help determine if the straw has been attached correctly. In the development process of BearNet I took inspiration from the designs of U-Net, UNet++ and a high resolution network named HRNet. Further, I used a dataset containing RGB-images from a surveillance camera located inside a mall, on which the aim was to detect head positions of all pedestrians. In an attempt to reproduce a result from another study, I found that the mall dataset suffers from training set contamination when a model is trained, validated, and tested on it with random sampling. Hence, I propose that the mall dataset is evaluated with a sequential data split strategy, to limit the problem. I found that the BearNet architecture is well suited for both the EU-pallet and straw datasets, and that it can be successfully used on either RGB, intensity or depth images. On the EU-pallet and straw datasets, BearNet consistently produces point estimates within five and six pixels of ground truth, respectively. I also show that the straw dataset only constitutes a small subset of all the challenges that exist in the problem domain related to the attachment of a straw to a juice package, and that one therefore cannot train a robust deep learning model on it. As an example of this, models trained on the straw dataset cannot correctly handle samples in which there is no straw visible.
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Florián, Tomáš. „Řídicí jednotka pro humanoidní robot“. Master's thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2009. http://www.nusl.cz/ntk/nusl-217766.
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The main goal of this project is to understand broadband sold Robonova-I humanoid robot and to design new improvements. The thesis is divided into five main chapters: The first of them (Robonova-I) is concerning the kit of Robonova-I, its completion and control possibilities. In details it deals with used servo motors, their operating and compares them. The next chapter is concerning the design of the control unit along with description of architecture of the processor and control possibilities with demonstrational board. In third there is a software solution of particular methods and commands which control the unit with demonstrational board. Chapter “The Design of Printed Circuit Board” describes facilities of the designed printed circuit board. The last chapter describes the final program for robot control through the use of computer and some of the algorithms by means of which the robot controls the microprocessor.
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Ryo, Ariizumi. „Analysis of parametric gaits and control of non-parametric gaits of snake robots“. 京都大学 (Kyoto University), 2015. http://hdl.handle.net/2433/199266.
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O-larnnithipong, Nonnarit. „Hand Motion Tracking System using Inertial Measurement Units and Infrared Cameras“. FIU Digital Commons, 2018. https://digitalcommons.fiu.edu/etd/3905.
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This dissertation presents a novel approach to develop a system for real-time tracking of the position and orientation of the human hand in three-dimensional space, using MEMS inertial measurement units (IMUs) and infrared cameras. This research focuses on the study and implementation of an algorithm to correct the gyroscope drift, which is a major problem in orientation tracking using commercial-grade IMUs. An algorithm to improve the orientation estimation is proposed. It consists of: 1.) Prediction of the bias offset error while the sensor is static, 2.) Estimation of a quaternion orientation from the unbiased angular velocity, 3.) Correction of the orientation quaternion utilizing the gravity vector and the magnetic North vector, and 4.) Adaptive quaternion interpolation, which determines the final quaternion estimate based upon the current conditions of the sensor.
The results verified that the implementation of the orientation correction algorithm using the gravity vector and the magnetic North vector is able to reduce the amount of drift in orientation tracking and is compatible with position tracking using infrared cameras for real-time human hand motion tracking. Thirty human subjects participated in an experiment to validate the performance of the hand motion tracking system. The statistical analysis shows that the error of position tracking is, on average, 1.7 cm in the x-axis, 1.0 cm in the y-axis, and 3.5 cm in the z-axis. The Kruskal-Wallis tests show that the orientation correction algorithm using gravity vector and magnetic North vector can significantly reduce the errors in orientation tracking in comparison to fixed offset compensation. Statistical analyses show that the orientation correction algorithm using gravity vector and magnetic North vector and the on-board Kalman-based orientation filtering produced orientation errors that were not significantly different in the Euler angles, Phi, Theta and Psi, with the p-values of 0.632, 0.262 and 0.728, respectively.
The proposed orientation correction algorithm represents a contribution to the emerging approaches to obtain reliable orientation estimates from MEMS IMUs. The development of a hand motion tracking system using IMUs and infrared cameras in this dissertation enables future improvements in natural human-computer interactions within a 3D virtual environment.
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Persson, Lucas, und Sebastian Markström. „Indoor localization of hand-held Shopping Scanners“. Thesis, KTH, Data- och elektroteknik, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-208931.
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This thesis investigates applicable indoor navigation systems for the next generation of hand-held shopping scanners, on behalf of the company Virtual Stores. The thesis research and review applicable indoor localization methods and ways to combine and evaluate received localization data in order to provide accurate navigation without introducing any other worn equipment for a potential user. Prototype navigation systems was proposed, developed and evaluated using a combination of carefully placed radio transmitters that was used to provide radio based localization methods using Bluetooth or UltraWide Band (UWB) and inertial sensors combined with a particle filter. The Bluetooth solution was deemed incapable of providing any accurate localization method while the prototype using a combination of UWB and inertial sensors proved promising solution with below 1m average error under optimal conditions or 2.0m average localization error in a more realistic environment. However, the system requires the surveyed area to provide 3 or more UWB transmitters in the line of sight of the UWB receiver of the user at every location facing any direction to provide accurate localization. The prototype also requires to be scaled up to provide localization to more than 1 radio transmitters at the time before being introduced to the Fast moving consumer goods market.Denna avhandling undersöker tillämpliga inomhusnavigationssystem för nästa generations handhållna shopping terminaler, på uppdrag av företaget Virtual Stores. Avhandlingen undersöker och granskar tillämpliga inomhuslokaliseringsmetoder och sätt att kombinera och utvärdera mottagna lokaliseringsdata för att bistå med ackurat navigering utan att introducera någon ytterligare utrustning för en potentiell användare. Prototypnavigationssystem föreslogs, utvecklades och utvärderades användandes en kombination av väl utplacerade radiosändare användandes Bluetooth eller UltraWide Band (UWB) och tröghetssensorer i kombination med ett partikelfilter. Bluetooth-lösningen ansågs oförmögen att tillhandahålla någon exakt lokalisering medan prototypen som använde en kombination av UWB och tröghetssensorer visade sig vara en lovande lösnings med under 1m genomsnittligt fel under optimala förhållanden eller 2,0m genomsnittligt lokaliseringsfel i mer realistisk miljö. Systemet kräver emellertid att det undersökta området tillhandahåller 3 eller fler UWB-sändare inom synfältet för UWB-mottagaren hos användaren vid varje plats och riktning för att tillhandahålla ackurat lokalisering. Prototypen behöver skalas upp för att kunna bistå med lokalisering till mer än 1 radiomottagare innan den introduceras till detaljhandlen.
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Sabela, David. „Programování robotických akcí v rozšířené realitě“. Master's thesis, Vysoké učení technické v Brně. Fakulta informačních technologií, 2020. http://www.nusl.cz/ntk/nusl-417267.
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The aim of this master's thesis was to develop an application, which would allow its users to program robotic actions with the help the augmented reality. The application is of demonstrative character and is made with the goal of intuitive handling and good integration of the augmented reality. This experimental application enables users to design a program for a robot using visual instructions, conditions and links and to test it by visualizing the passage through the program. The application is implemented with the use of Unity3D and the AR Foundation technology. The result was tested by a group of volunteers, whose feedback can be considered generally positive.
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Devellioglu, Yucel. „Electronic Packaging And Environmental Test And Analysis Of An Emi Shielded Electronic Unit For Naval Platform“. Master's thesis, METU, 2008. http://etd.lib.metu.edu.tr/upload/12609459/index.pdf.
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The scope of this thesis is the design and verification of an electronic packaging of a device which is a subunit of a network system that is designed for combat communication in sheltering ship. According to the project requirements this device is subjected to some environmental and electromagnetic interference tests. This thesis includes design and manufacturing steps as well as vibration, shock and thermal analyses. Electromagnetic interference is examined through the design procedure and total shielding effectiveness of the device is calculated after the applications of some electromagnetic interference precautions which are given in details.
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Mandáková, Adéla. „Design klimatizační jednotky pro aditivní robotickou výrobu“. Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2021. http://www.nusl.cz/ntk/nusl-445151.
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The design of air conditioning unit is based on combination of the product itself and related architecture. The large-scale 3D printing is becoming more and more popular, that is why this thesis chose additive manufacturing robotic technology for designing the air conditioner. According to analysis the air distribution through perforations is the most convenient one for an indoor unit. An outdoor unit tends to be hidden because of inhomogeneity with the building. To obtain more variant studies for the design a generative process was applied. This method was applied also later on, because additive manufacturing is able to easily change dimension parameters and thus fulfil individual customer requests. Other advantages of robotic printing are the lattice structures that enable perforation manufacturing without waste and the possibility of using generative design methods.
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Bambušek, Daniel. „User Interface for ARTable and Microsoft Hololens“. Master's thesis, Vysoké učení technické v Brně. Fakulta informačních technologií, 2018. http://www.nusl.cz/ntk/nusl-386023.
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Tato práce se zaměřuje na použitelnost brýlí Microsoft HoloLens pro rozšířenou realitu v prototypu pracoviště pro spolupráci člověka s robotem - "ARTable". Použití brýlí je demonstrováno vytvořeným uživatelským rozhraním, které pomáhá uživatelům lépe a rychleji porozumět systému ARTable. Umožňuje prostorově vizualizovat naučené programy, aniž by bylo nutné spouštět samotného robota. Uživatel je veden 3D animací jednotlivých programů a hlasem zařízení, což mu pomůže získat jasnou představu o tom, co by se stalo, pokud by program spustil přímo na robotovi. Implementované řešení také umožňuje interaktivně provést uživatele celým procesem programování robota. Použití brýlí umožňuje mimo jiné zobrazit cenné prostorové informace, například vidění robota, tedy zvýraznit ty objekty, které jsou robotem detekovány.
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Pavlica, Jiří. „Lineární jednotka s hydraulickým pohonem pro robot s paralelní kinematickou strukturou“. Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2014. http://www.nusl.cz/ntk/nusl-231232.
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This thesis describes the design of linear units with hydraulic drive for the robot with parallel kinematic structure. The theoretical part deals with the historical development of parallel kinematic structures, its design proposals for individual structural elements and a comparison of parallel and serial kinematics. The main aim of the work is developing design of hydraulic drive, hydraulic circuit, creating a 3D model using Solid Edge software, and the development of design documentation for the designated parts.
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Jansson, Daniel, und Rasmus Blomstrand. „REAL-TIME PREDICTION OF SHIMS DIMENSIONS IN POWER TRANSFER UNITS USING MACHINE LEARNING“. Thesis, Mälardalens högskola, Akademin för innovation, design och teknik, 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-45615.
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Hellner, Simon, und Henrik Syvertsson. „Neurala nätverk försjälvkörande fordon : Utforskande av olika tillvägagångssätt“. Thesis, Karlstads universitet, Institutionen för matematik och datavetenskap (from 2013), 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:kau:diva-84560.
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Artificiella neurala nätverk (ANN) har ett brett tillämpningsområde och blir allt relevantare på flera håll, inte minst för självkörande fordon. För att träna nätverken användsmeta-algoritmer. Nätverken kan styra fordonen med hjälp av olika typer av indata. I detta projekt har vi undersökt två meta-algoritmer: genetisk algoritm (GA) och gradient descent tillsammans med bakåtpropagering (GD & BP). Vi har även undersökt två typer av indata: avståndssensorer och linjedetektering. Vi redogör för teorin bakom de metoder vi har försökt implementera. Vi lyckades inte använda GD & BP för att träna nätverk att köra fordon, men vi redogör för hur vi försökte. I resultatdelen redovisar vi hur det med GA gick att träna ANN som använder avståndssensorer och linjedetektering som indata. Sammanfattningsvis lyckades vi implementera självkörande fordon med två olika typer av indata.Artificial Neural Networks (ANN) have a broad area of application and are growing increasingly relevant, not least in the field of autonomous vehicles. Meta algorithms are used to train networks, which can control a vehicle using several kinds of input data. In this project we have looked at two meta algorithms: genetic algorithm (GA), and gradient descent with backpropagation (GD & BP). We have looked at two types of input to the ANN: distance sensors and line detection. We explain the theory behind the methods we have tried to implement. We did not succeed in using GD & BP to train ANNs to control vehicles, but we describe our attemps. We did however succeeded in using GA to train ANNs using a combination of distance sensors and line detection as input. In summary we managed to train ANNs to control vehicles using two methods of input, and we encountered interesting problems along the way.
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Mendes, Caio César Teodoro. „Navegação de robôs móveis utilizando visão estéreo“. Universidade de São Paulo, 2012. http://www.teses.usp.br/teses/disponiveis/55/55134/tde-18062012-162436/.
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Navegação autônoma é um tópico abrangente cuja atenção por parte da comunidade de robôs móveis vemaumentando ao longo dos anos. O problema consiste em guiar um robô de forma inteligente por um determinado percurso sem ajuda humana. Esta dissertação apresenta um sistema de navegação para ambientes abertos baseado em visão estéreo. Uma câmera estéreo é utilizada na captação de imagens do ambiente e, utilizando o mapa de disparidades gerado por um método estéreo semi-global, dois métodos de detecção de obstáculos são utilizando para segmentar as imagens em regiões navegáveis e não navegáveis. Posteriormente esta classificação é utilizada em conjunto com um método de desvio de obstáculos, resultando em um sistema completo de navegação autônoma. Os resultados obtidos por está dissertação incluem a avaliação de dois métodos estéreo, esta sendo favorável ao método estéreo empregado (semi-global). Foram feitos testes visando avaliar a qualidade e custo computacional de dois métodos para detecção de obstáculos, um baseado em plano e outro baseado em cone. Tais testes deixaram claras as limitações de ambos os métodos e levaram a uma implementação paralela do método baseado em cone. Utilizando uma unidade de processamento gráfico, a versão paralelizada do método baseado em cone atingiu um ganho no tempo computacional de aproximadamente dez vezes. Por fim, os resultados demonstrarão o sistema completo em funcionamento, onde a plataforma robótica utilizada, um veículo elétrico, foi capaz de desviar de pessoas e cones alcançando seu objetivo seguramenteAutonomous navigation is a broad topic that has received increasing attention from the community of mobile robots over the years. The problem is to guide a robot in a smart way for a certain route without human help. This dissertation presents a navigation system for open environments based on stereo vision. A stereo camera is used to capture images of the environment and based on the disparity map generated by a semi-global stereo method, two obstacle detection methods are used to segment the images into navigable and non-navigable regions. Subsequently, this classification is employed in conjunction with a obstacle avoidance method, resulting in a complete autonomous navigation system. The results include an evaluation two stereo methods, this being favorable to the employed stereo method (semi-global). Tests were performed to evaluate the quality and computational cost of two methods for obstacle detection, a plane based one and a cone based. Such tests have left clear the limitations of both methods and led to a parallel implementation of the cone based method. Using a graphics processing unit, a parallel version of the cone based method reached a gain in computational time of approximately ten times. Finally, the results demonstrate the complete system in operation, where the robotic platform used, an electric vehicle, was able to dodge people and cones reaching its goal safely
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Corradin, Matteo. „MecWilly 3D: supporto all’orientamento topografico nei bambini in età scolare attraverso un serious game per la raccolta differenziata“. Master's thesis, Alma Mater Studiorum - Università di Bologna, 2017. http://amslaurea.unibo.it/13246/.
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I robot e gli applicativi per smartphone e tablet assumono un ruolo sempre più attivo a supporto dello sviluppo e potenziamento delle abilità nei bambini. A partire dagli ultimi anni della scuola dell'infanzia (4-5 anni) una delle abilità più importanti che affrontano i bambini è l'orientamento topografico, con particolare riferimento alla relatività delle posizioni (destra e sinistra) degli oggetti rispetto ad un determinato punto. L'utilizzo delle ICT e della robotica, associate al conflitto socio-cognitivo offrono molteplici soluzioni per supportare al meglio l'acquisizione e il potenziamento di tali abilità di orientamento spaziale a partire già dai 5 anni. In questo contesto entra in gioco MecWilly, il quale funge da mezzo scatenante di questo processo. MecWilly è un robot umanoide alto 1 metro e 20 cm, realizzato con materiali economici e di recupero, grazie alla collaborazione con il Dipartimento di Psicologia dell'Università di Bologna e il Comune di Rimini. Il robot MecWilly viene utilizzato per studiare il conflitto socio-cognitivo nei bambini in età pre-scolare e scolare. L'obiettivo di questa tesi è realizzare una applicazione 3D che ha la finalità di sviluppare e migliorare le abilità nell'orientamento topografico (mappe) e nell'orientamento spaziale (contesto) dei bambini della scuola primaria. L’applicazione 3D, che riproduce fedelmente l’esperimento originale, offre la possibilità di poter mettere a confronto l’efficacia dell’applicazione utilizzata su tablet con quella in ambiente reale, in quanto il bambino è posizionato frontalmente rispetto al robot e, dunque, ha lo stesso punto di vista creato nella situazione reale. Il progetto è la realizzazione di un videogioco 3D che simuli il funzionamento e le dinamiche dell'esperimento con il robot reale.
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Yu, Haisheng. „Training novice robot operators to complete simple industrial tasks by using a VR training program“. Thesis, KTH, Skolan för elektroteknik och datavetenskap (EECS), 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-280857.
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This paper studies a Virtual Reality (VR) training program for novice industrial robot operators. The VR training program is constructed using Unity and HTC Vive. The paper presents the result of comparative experiments allowing novices to learn and operate virtual and physical robots to complete simple industrial production tasks. The results include their time to complete the task, the pass rate of the task, and the results of the questionnaire survey as evidence of their learning efficiency and user satisfaction. Finally, through data analysis, we compare the impact the two methods have on novices. The two approaches are the VR training program and the conventional physical robot training method. The experiment results show that novices who use the VR training program at first show a high degree of user satisfaction, and they can more quickly and efficiently master the knowledge of manipulating industrial robots and apply it to practice. The findings of this article also show that the use of VR technology in industrial production improves y and is a feasible and reliable method which still has room or improvement.Den här uppsatsen undersöker ett Virtual Reality-träningsprogram för industriella robot operatörer som är nybörjare. VR-träningsprogrammet är skapat i Unity för HTC Vive. Uppsatsen presenterar resultaten av en jämförande studie där nybörjare fick lära sig att använda en VR och en fysisk robot för att slutföra enkla industriella produktionsuppgifter. Resultatet inkluderar deltagarnas tid att slutföra uppgifterna, andel lyckade försök samt resultaten av ett frågeformulär som bevis på deltagarnas inlärnings effektivitet samt användartillfredsställelse. Genom en dataanalys jämfördes de effekter ett VR- träningsprogram och en konventionell metod på fysiska robotar hade på nybörjare. Studiens resultat visar att nybörjare som använder VR-träningsprogrammet visar en högre grad av användartillfredsställelse och att dem är snabbare och effektivare när dem bemästrar kunskapen som behövs för att manipulera industrirobotar, samt att tillämpa detta i verkligheten. Resultaten visar också att användningen av VR i industriell produktion förbättrar effektiviteten och är en rimlig och trovärdig metod, men som fortfarande har rum för förbättringar.
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Dib, Khadidja. „Simir-n : un support informatique temps-réel pour la robotique“. Paris 11, 1985. http://www.theses.fr/1985PA112346.
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Les systèmes de programmation de robots se caractérisent par une complexité croissante dûe à l’introduction continuelle de nouvelles techniques provenant de domaines divers tels que la conception de robots, la commande, les capteurs, la reconnaissance des formes, les réseaux. La flexibilité est la caractéristique essentielle d’un système robotique de troisième génération. SIMIR (Support Interactif, Multitâches, pour l’Intégration en Robotique) assure la cohabitation des modules spécifiques à la robotique. ACTION-COMMANDE, PERCEPTION, COMMUNICATION et DECISION. SIMIR est conçu pour répondre aux critères de portabilité, d’interactivité, de modularité et de parallélisme dans un environnement robotique. Il comprend deux niveaux : SIMIR-N et SIMIR-L. SIMIR-N qui est décrit dans ce rapport de thèse est constitué essentiellement par un ensemble de serveurs et d’une bibliothèque de primitives. Pour bénéficier de la reconnaissance de fait d’UNIX comme un standard dans le monde des constructeurs d’ordinateurs, SIMIR est implémenté autour de ce système d’exploitationThe new technics such as robot conception, control, sensors, form analysis, networks increase the complexity in robotic programming systems. Flexibility is an essential feature of robotics system especially of the third generation. SIMIR (Support Interactif, Multitaches, pour l’Intégration en Robotique) insures cooperation between the robotic specific modules. CONTROL, PERCEPTION, COMMUNICATION and DECISION. In addition SIMIR supports portability, interactivity, modularity and parallelism. SIMIR includes two levels: SIMIR-N and SIMIR-L. SIMIR-N, the subject of this report, is constituted by a set of managers and a primitive’s library. As the kernel UNIX is a standard in the world of computer manufacturers, SIMIR is implemented around this kernel
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Tozzi, Biagio Placido. „Realizzazione di un controller su piattaforma Android per la movimentazione di manipolatori industriali“. Bachelor's thesis, Alma Mater Studiorum - Università di Bologna, 2016.
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Nell'ottica di trovare modalità sempre più intuitive per movimentare manipolatori industriali l’obiettivo della tesi è quello di realizzare una mobile app su piattaforma Android in grado appunto di movimentare un generico manipolatore industriale.
L'applicazione sviluppata fornisce all'utente un’interfaccia semplice e intuitiva che permette, dopo un’opportuna configurazione iniziale, di controllare il moto di un manipolatore industriale attraverso l’uso del touch screen e degli elementi grafici dell’interfaccia. Oltre a istruire un manipolatore l’applicazione offre anche delle funzionalità per il salvataggio e la gestione di determinate configurazioni che il manipolatore può assumere nello spazio. Il grande vantaggio dell’applicazione è quello di fornire un’interfaccia universale per la movimentazione di qualsiasi manipolatore. Si può affermare quindi che essa fornisce un livello di astrazione superiore.
In questo progetto di tesi è stato effettuato il testing dell'applicazione sviluppata sia con il manipolatore industriale Comau Smart Six, robot antropomorfo a 6 gradi di libertà, sia con un manipolatore simulato in Unity 3D.
Sono stati raccolti dei dati, in particolare dei grafici, che mettono in relazione i comandi impartiti al manipolatore e i dati ricevuti da questo, in modo da ricavarne dei parametri che misurano l'efficienza e la correttezza dell'applicazione.
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Ljung, Mikael, und Linnea Månsson. „Klassificering av engagemangsnivå hos en samtalsdeltagare med hjälp av maskininlärning“. Thesis, KTH, Skolan för elektroteknik och datavetenskap (EECS), 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-262046.
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The work presented in this study is based on the long-term goal of developing a social robot that can be involved in leading a conversation in a language café. In detail, the study has investigated whether it is possible to classify involvement with a conversation participant based on its facial expression and gaze two factors that previous studies have shown to be central to human engagement. To perform the assessment, the software Openface has extracted said parameters from a previous field study which has then been processed with the machine learning model Support Vector Machine. After a lot of hyperparameter tuning, the final model managed to predict engagement on a three-point scale with 54.5% accuracy. Furthermore, the study has also examined the potential of the new technological paradigm that the social robot represents. The potential has been analyzed on the basis of Dosi’s four dimensions: technological possibilities, appropriability of innovation, cumulativeness of technical advances and properties of the knowledge base. The analysis clarifies that the paradigm has the potential to revolutionize a number of industries as a result of its technological opportunities and worldwide stakeholders, but also faces challenges in the form of technical and ethical difficulties.Arbetet som presenteras i den här studien grundar sig i det långsiktiga målet att utveckla en social robot som kan vara med och leda samtalssessioner på ett språkcafé. I detalj har studien undersökt om det går att klassificera engagemang hos en samtalsdeltagare utifrån dess ansiktsuttryck och blickriktning – två faktorer som tidigare studier visat sig vara centrala för människans engagemang. För att utföra bedömningen har mjukvaran Openface extraherat nämnda parametrar från en tidigare fältstudie vilka sedan har processats med maskininlärningsmodellen Support Vector Machine. Efter gedigna försök att finna optimala värden på hyperparametrar till modellen lyckades den slutligen predicera engagemang på en tregradig skala med 54,5% accuracy. Vidare har studien också undersökt potentialen för det nya teknologiska paradigmet som den sociala roboten utgör. Potentialen har analyserats med utgångspunkt i Dosis fyra dimensioner: teknologiska möjligheter, möjliga vinster från innovation, kumulativ höjd på teknologiska framsteg och egenskaper i kunskapsbasen. Analysen klargör att paradigmet har förutsättningar att revolutionera ett flertal industrier till följd av dess teknologiska möjligheter och världsomfattande intressenter, men står också inför utmaningar i form av tekniska och etiska svårigheter.
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Persson, Anders. „Platform development of body area network for gait symmetry analysis using IMU and UWB technology“. Thesis, Mälardalens högskola, Akademin för innovation, design och teknik, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-39498.
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Having a device with the capability of measure motions from gait produced by a human being, could be of most importance in medicine and sports. Physicians or researchers could measure and analyse key features of a person's gait for the purpose of rehabilitation or science, regarding neurological disabilities. Also in sports, professionals and hobbyists could use such a device for improving their technique or prevent injuries when performing. In this master thesis, I present the research of what technology is capable of today, regarding gait analysis devices. The research that was done has then help the development of a suggested standalone hardware sensor node for a Body Area Network, that can support research in gait analysis. Furthermore, several algorithms like for instance UWB Real-Time Location and Dead Reckoning IMU/AHRS algorithms, have been implemented and tested for the purpose of measuring motions and be able to run on the sensor node device. The work in this thesis shows that a IMU sensor have great potentials for generating high rate motion data while performing on a small mobile device. The UWB technology on the other hand, indicates a disappointment in performance regarding the intended application but can still be useful for wireless communication between sensor nodes. The report also points out the importance of using a high performance micro controller for achieving high accuracy in measurements.
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SU, JUNG-CHI, und 蘇榮基. „Simulation Analysis of Robotic Collision Detection Using Inertial Measurement Unit“. Thesis, 2019. http://ndltd.ncl.edu.tw/handle/ewju4m.
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碩士國立聯合大學
機械工程學系碩士班
107
Because of the advancement of industrial society and the increase in the aging population, industries actively introduce alternatives such as robotic arms. Nevertheless, in the past applications, the safety of robotic arms has been the subject of concern in several researches. In the high-precision industry, several projects require the collaboration of individuals and robots to complete tasks, which is known as human–machine cooperation. Consequently, improving worker safety is a critical subject, which affects the advancement of the robotic arms. This study proposes the use of a low-cost inertial measurement unit, which uses the sensor to obtain dynamic data of the robotic arm movement. Moreover, a dynamic scientific model is used to calculate the joint torque, and the target of collision detection is achieved by matching its criteria. Accordingly, herein, MATLAB and Simulink are used to combine the physical and scientific models. Dynamic simulation analysis is conducted in the software to demonstrate the feasibility of the inertial measurement unit in the anti-collision application. Finally, under the designed trajectory, 1-kg load, and joint collision threshold set at 14.0%, 12.0%, 35.0%, 63.0%, 30.0%, and 47.5%, the collision detection can be completed in 0.1 s.
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Hsieh, De-Wei, und 謝得威. „Optimal Order and Drive Unit Assignment in Robotic Mobile Fulfillment Systems“. Thesis, 2017. http://ndltd.ncl.edu.tw/handle/96f49p.
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碩士國立臺灣科技大學
工業管理系
105
To facilitate operation process and improve material flow in warehousing systems, robotic technology is introduced for transportation and system control management in customer order fulfillment and inventory replenishment. This thesis studies the assignment of multiple robotic drive units deployed in the storage area and picking stations for pod transportation in order to minimize the system processing time of customer orders. Mathematical programming is formulated to find the optimal assignment of orders retrieved in picking stations, drive units allocated to serve orders, and item transportation sequence in each drive unit. Due to complexity and enormous computation time in finding the optimal solution, heuristic algorithms are developed to obtain near optimal allocation based on properties observed from the optimal assignment. Numerical experiment is presented to verify output from opt
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Cunha, João Pedro Sousa Mendes da. „Docking solutions for smart autonomous mobile units“. Master's thesis, 2017. http://hdl.handle.net/1822/57051.
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Dissertação de mestrado integrado em Engenharia Eletrónica Industrial e ComputadoresDocking solutions are key in the development of smart autonomous vehicles for industrial applications. Throughout the course of every autonomous vehicle workflow inside a factory, there will be moments where parking or picking cargo is needed. As these maneuvers require a precise positioning, without a correct approach, the maneuvers become ineffective jeopardizing all the automation of the process and as result, the maneuver success. Collaborating with the team of the sub-project P24 ”Autonomous Milk-Runs” result of a partnership between University of Minho and Bosch Car Multimedia Portugal S.A., this dissertation aims to conceive and develop docking maneuvers solutions for one of the prototype smart autonomous units, the stacker vehicles. In Bosch’s Braga Plant (BrgP) factory stacker vehicles are required to deliver packagings material and move finished goods within different areas on the warehouse. Stackers will then need to pick the products placed on pallets at the production lines end as the established workflow requires. This area consists in a long and narrow corridor where the stacker vehicles will need to maneuver correctly in order to pick the targeted pallets signalized by logistics. To develop a docking solution, the study of mobile vehicles kinematics, the development of behavioral based dynamics and the implementation of a pallet detection algorithm was needed to match the factory workflow and requirements. The proposed solution allows the stacker vehicles to respect their workspace constraints, with docking capabilities under multiple circumstances.
Soluções de acostagem são importantes no desenvolvimento de veículos autónomos para aplicações industriais. Durante o curso das tarefas de um veículo autónomo dentro de uma fábrica, irão existir momentos em que parqueamento e o levantamento de cargas é necessário. Como estas manobras requerem um posicionamento preciso, se a abordagem não for a mais correta, as mesmas tornam-se obsoletas, colocando em causa toda a automatização do processo e, como consequência, o seu sucesso. Colaborando com a equipa do sub-projeto P24 ”Autonomous Milk-Runs” resultante da parceria entre a Universidade do Minho e a Bosch Car Multimedia Portugal S.A., esta dissertação aponta à conceção e desenvolvimento de soluções para manobras de acoplamento para uma das unidades autónomas inteligentes em análise, os empilhadores. Na fábrica da Bosch Braga Plant (BrgP), é requerido aos veículos empilhadores a entrega de bens finalizados dentro de diferentes áreas no armazém. Os empilhadores deverão então levantar os produtos colocados em paletes no final da linhas de produção, tal como o fluxo de trabalho estabelecido para estes indica. Esta área consiste em um longo e apertado corredor, onde os veículos empilhadores irão necessitar de manobrar corretamente de modo a levantar as paletes alvo sinalizadas pela logística. Para a desenvolver uma solução de acoplamento, o estudo da cinemática de veículos móveis, o desenvolvimento de uma dinâmica baseada em comportamento e a implementação de um algoritmo de deteção de paletes foram necessários de modo a cumprir com os requisitos e fluxo de trabalho impostos pela empresa. A solução proposta permite aos veículos empilhadores respeitarem o seu espaço de trabalho, tendo capacidade de acoplamento para circunstâncias múltiplas.
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Zhang, Zhe. „Activity Intent Recognition of the Torso Based on Surface Electromyography and Inertial Measurement Units“. 2013. https://scholarworks.umass.edu/theses/1098.
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This thesis presents an activity mode intent recognition approach for safe, robust and reliable control of powered backbone exoskeleton. The thesis presents the background and a concept for a powered backbone exoskeleton that would work in parallel with a user. The necessary prerequisites for the thesis are presented, including the collection and processing of surface electromyography signals and inertial sensor data to recognize the user’s activity. The development of activity mode intent recognizer was described based on decision tree classification in order to leverage its computational efficiency. The intent recognizer is a high-level supervisory controller that belongs to a three-level control structure for a powered backbone exoskeleton. The recognizer uses surface electromyography and inertial signals as the input and CART (classification and regression tree) as the classifier. The experimental results indicate that the recognizer can extract the user’s intent with minimal delay. The approach achieves a low recognition error rate and a user-unperceived latency by using sliding overlapped analysis window. The approach shows great potential for future implementation on a prototype backbone exoskeleton.
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Ondráček, Jan. „Návrh a implementace algoritmu SLAM pro mobilní robot“. Master's thesis, 2015. http://www.nusl.cz/ntk/nusl-190050.
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This diploma thesis deals with the implementation of selected simultaneous locali-zation and mapping (SLAM) algorithm for mobile robot and testing of this algo-rithm. In theoretical part there is a research that describes various existing SLAM algorithms. One of these algorithms is selected for the implementation based on the selected criteria at the end of the research. Practical part of the thesis deals with the implementation of selected SLAM algorithm in particular programming language and with its testing on real data. Computer simulation in which model of the robot travels through the model of Q Building of Mendel University in Brno is created for the purpose of testing.
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Fernandes, Bruno Miguel da Silva. „Fusion of inertial data in industrial Automated Guided Vehicles“. Master's thesis, 2017. http://hdl.handle.net/10316/83317.
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Dissertação de Mestrado Integrado em Engenharia Electrotécnica e de Computadores apresentada à Faculdade de Ciências e TecnologiaVeículos guiados automaticamente são um factor chave na otimização do transporte de materiais no setor industrial. O interesse destes veículos está diretamente relacionado com a sua capacidade de transportar cargas pesadas entre as diferentes etapas de uma linha de montagem, de modo repetitivo, e exigindo uma reduzida intervenção humana. A navegação destes veículos é frequentemente baseada num guiamento óptico ou magnético. No entanto, a inflexibilidade das linhas de guiamento combinada com a sua deterioração ao longo do tempo, promove o desenvolvimento de métodos alternativos ou complementares para a navegação destes veículos. O objetivo principal deste trabalho é desenvolver e validar um sistema de guiamento inercial, composto por acelerómetros e giroscópios, para complementar um sistema de guiamento magnético existente. O sistema guiado inercialmente deve ser capaz de orientar o veículo, permitindo a sua navegação ao longo de caminhos em linha reta nos quais a banda magnética não está presente. Para concretizar esta tarefa, o projeto e a assemblagem de um sistema de aquisição de dados inerciais é primeiramente realizado, seguindo-se um estudo de algoritmos de fusão sensorial bem como da sua implementação em sistemas embebidos. Os algoritmos de fusão mais precisos e normalmente escolhidos para fundir as medições dos sensores e mitigar erros existentes são computacionalmente pesados, exigindo uma grande capacidade computacional o que é incompatível com dispositivos de baixo custo. Deste modo, este trabalho foca-se em abordagens de fusão sensorial de baixa complexidade, capazes de fundir a informação de sensores inerciais de baixo custo e que possam ser implementados em sistemas embebidos com baixa capacidade computacional. Os resultados demonstram que o sistema de guiamento inercial permite emular adequadamente o comportamento do sistema de guiamento magnético existente, para caminhos em linha reta. Este trabalho faz parte do projeto AGVPOSYS (em inglês, Automated Guided Vehicle with innovative indoor POsitioning SYStem for the factory of the future) liderado pela empresa Active Space Technologies e foi realizado nas instalações desta mesma empresa.
Automated guided vehicles are a key factor in the optimization of the transportation of materials in the industry sector. The interest of these vehicles is directly related with their capability of carrying heavy loads among the different steps of an assembly line, repetitively, while demanding a reduced human intervention. The navigation of these vehicles is often based on optical or magnetic guidance. However, the inflexibility of guidelines combined with its deterioration over time leads to the development of alternative or complementary methods of navigation for these vehicles. The main objective of this work is to develop and validate an inertial-based guidance system, composed of accelerometers and gyroscopes, in order to complement an existing magnetic-based guidance system. The inertial-based guided system should be capable of guiding the vehicle, allowing its navigation along straight paths in which the magnetic tape is not available. For this task, the design and assembly of an inertial data acquisition system is firstly performed, followed by a study of sensor fusion algorithms as well as their implementation in embedded systems. Standard accurate fusion algorithms implemented to merge sensor measurements and mitigate existing errors are computationally intensive, demanding an high computational capability which is incompatible with low-cost devices. Therefore, this work focus on low-complexity fusion filter approaches, which are capable of merging low-cost inertial sensors data and which can be implemented in embedded systems with low-computational capabilities. The results demonstrate that the inertial-based guidance system properly emulate the behaviour of the magnetic-guided system, for straight paths. This work is included in the AGVPOSYS (Automated Guided Vehicle with innovative indoor POsitioning SYStem for the factory of the future) project led by the company Active Space Technologies and was developed in the facilities of this company.