Дисертації: "Mobile Service Robotic"

1

Trevor, Alexander J. B. "Semantic mapping for service robots: building and using maps for mobile manipulators in semi-structured environments." Diss., Georgia Institute of Technology, 2015. http://hdl.handle.net/1853/53583.

Повний текст джерела

Анотація:

Although much progress has been made in the field of robotic mapping, many challenges remain including: efficient semantic segmentation using RGB-D sensors, map representations that include complex features (structures and objects), and interfaces for interactive annotation of maps. This thesis addresses how prior knowledge of semi-structured human environments can be leveraged to improve segmentation, mapping, and semantic annotation of maps. We present an organized connected component approach for segmenting RGB-D data into planes and clusters. These segments serve as input to our mapping approach that utilizes them as planar landmarks and object landmarks for Simultaneous Localization and Mapping (SLAM), providing necessary information for service robot tasks and improving data association and loop closure. These features are meaningful to humans, enabling annotation of mapped features to establish common ground and simplifying tasking. A modular, open-source software framework, the OmniMapper, is also presented that allows a number of different sensors and features to be combined to generate a combined map representation, and enabling easy addition of new feature types.

Стилі APA, Harvard, Vancouver, ISO та ін.

2

ROSA, STEFANO. "Localization and Mapping for Service Robotics Applications." Doctoral thesis, Politecnico di Torino, 2014. http://hdl.handle.net/11583/2542488.

Повний текст джерела

Анотація:

In this work we address different techniques for autonomous navigation of single and multi-robot systems in unstructured indoor environments. The first problem that we address is the problem of robot localization. We first show how a multi-robot localization approach can speed up the process as well as introducing robustness to failures. At the same time we show the possibility to introduce some sort of insight into the algorithm. We then focus on increasing the robustness of single robot localization, by taking advantage of sensor fusion and by exploiting visual markers embedded in the environment. We then show how the approach can be extended from ad-hoc markers to an arbitrary set of pre-existing objects already present in the environment. Then we address the more complicated problem of Simultaneous Localization and Mapping. In particular we focus on a promising technique called Graph-SLAM and we show the implementation of a front-end for this optimization technique in order to create a real online SLAM approach. The last part of the thesis is devoted to another part of service robotics which is not directly related to navigation: Human Robot Interaction (HRI). While this field of robotics is not strictly related to autonomous navigation, some part of it can be, such as the case of user following and object tracking. In Chapter 4 we discuss the implementation of an adaptive people tracking algorithm tailored for user tracking and following. We also show how this algorithm can easily be extended to the case of generic object tracking for human-robot cooperation.

Стилі APA, Harvard, Vancouver, ISO та ін.

3

Coelho, Paulo Rodolfo da Silva Leite. "Uma arquitetura orientada a serviços para laboratorios de acesso remoto." [s.n.], 2006. http://repositorio.unicamp.br/jspui/handle/REPOSIP/258974.

Повний текст джерела

Анотація:

Orientadores: Eleri Cardozo, Eliane Gomes Guimarães
Dissertação (mestrado) - Universidade Estadual de Campinas, Faculdade de Engenharia Eletrica e de Computação
Made available in DSpace on 2018-08-08T01:18:40Z (GMT). No. of bitstreams: 1 Coelho_PauloRodolfodaSilvaLeite_M.pdf: 3632525 bytes, checksum: 73b0d774d1efd6416d8fb34cc8abd4d7 (MD5) Previous issue date: 2006
Resumo: Este trabalho apresenta uma arquitetura para a construção de laboratórios de acesso remoto (conhecidos como WebLabs). A arquitetura segue o paradigma de computação orientada a serviço (COS). Nesta abordagem cada recurso físico ou lógico do laboratório é modelado como um Serviço Web. Desta forma, os experimentos podem ser disponibilizados pela composição destes serviços. Um modelo conceitual para WebLabs, bem como a implementação deste modelo são apresentados. Experimentos em robótica móvel também foram desenvolvidos como exemplos de utilização deste laboratório
Abstract: This work presents an architeture for building remote access laboratories (also known as WebLabs). The architecture follows the service oriented computing (SOC). In this approach each logical or physical resource of the laboratory is modeled as a Web Service. In this way, the experiments are built through the composition of such services. A conceptual model of WebLabs, as well as an implementation of this model are presented. Experiments in mobile robotic were also developed for this laboratory
Mestrado
Engenharia de Computação
Mestre em Engenharia Elétrica

Стилі APA, Harvard, Vancouver, ISO та ін.

4

Feitosa, Daniel. "SiMuS - Uma arquitetura de referência para sistemas multirrobóticos de serviço." Universidade de São Paulo, 2013. http://www.teses.usp.br/teses/disponiveis/55/55134/tde-18042013-151002/.

Повний текст джерела

Анотація:

Atualmente, os sistemas robóticos têm sido necessários para uma diversidade de novos produtos, como em robôs de serviço e em robôs para ambientes perigosos. Como consequência, um aumento da complexidade desses sistemas e observada, exigindo também atenção considerável para a qualidade e a produtividade. Vale destacar que a complexidade de parte desses sistemas decorre, parcial ou totalmente, da necessidade de se utilizar diversos robôs para compor a solução. Em outra perspectiva, arquiteturas de referência surgiram como um tipo especial de arquitetura de software que consegue agregar conhecimento de domínios específicos, facilitando o desenvolvimento, padronização e evolução de sistemas de software. Nessa perspectiva, arquiteturas de referência foram também propostas para o domínio de robótica e de têm sido consideradas como um elemento importante para o desenvolvimento de sistemas para esse domínio. No entanto, existe uma falta de arquiteturas de referência especializadas em sistemas multirrobóticos de serviço. Assim, a principal contribuição desse trabalho e o apoio ao desenvolvimento de sistemas multirrobóticos de serviço. Para isso, o principal resultado, aqui apresentado, e o estabelecimento da SiMuS, uma arquitetura de referência que agrega o conhecimento e a experiência de como organizar sistemas multirrobóticos de serviço, visando a escalabilidade, evolução e reuso. Para o estabelecimento dessa arquitetura, foi utilizado o ProSA-RA, um processo que sistematiza o projeto, representação e avaliação de arquiteturas de referência. Resultados alcançados por uma inspeção, por meio de checklist, e estudo de caso conduzidos evidenciam que a SiMuS e uma arquitetura de referência viável e reusável para o desenvolvimento de sistemas multirrobóticos de serviço
Currently, robotic systems have been more and more required for a diversity of new products, such as in service robots and in robots for dangerous environments. As a consequence, an increase in the complexity of these systems is observed, requiring also considerable attention to their quality and productivity. One of the main complexities faced by systems is the problem of control multiple robots to complete a task. In another perspective, reference architectures have emerged as a special type of software architecture that achieves well-recognized understanding of specific domains, facilitating the development, standardization, and evolution of software systems. In this perspective, reference architectures have also been proposed for the robotic domain and they have been considered an important element to the development of systems for that domain. However, there is a lack of reference architectures specialized in multi-robotic systems for service robots. Thus, the main contribution of this work is to support the development of multi-robotic for service robots. For that, the main result presented here is the establishment of SiMuS, a reference architecture that combines the knowledge and experience of how to organize multi-robotic systems for service robots, aiming at scalability, evolution and reuse. For establishing this architecture, was used the ProSA-RA, a process that systematizes the design, representation and evaluation of reference architectures. Results achieved by a checklist inspection and case study conduction, show that the SiMuS is a viable and reusable reference architecture for developing multi-robotic systems service robots

Стилі APA, Harvard, Vancouver, ISO та ін.

5

Ho, Dinh Khanh. "Gestion des ressources et de l’énergie orientée qualité de service pour les systèmes robotiques mobiles autonomes." Thesis, Université Côte d'Azur, 2020. http://www.theses.fr/2020COAZ4000.

Повний текст джерела

Анотація:

Les systèmes robotiques mobiles autonomes deviennent de plus en plus complexes avec l’intégration de composants de capteurs et d’actionneurs et de fonctionnalités avancées pour effectuer les missions réelles. Pour ces systèmes techniques, les exigences sont divisées en deux catégories : les exigences fonctionnelles et les exigences non-fonctionnelles. Alors que les exigences fonctionnelles représentent ce que le robot doit faire pour accomplir la mission, les exigences non-fonctionnelles représentent la façon dont le robot exécute la mission. Ainsi, la qualité de service et l’efficacité énergétique d’une mission robotique sont classées dans cette catégorie. L’autonomie de ces systèmes est pleinement atteinte lorsque les exigences fonctionnelles et non-fonctionnelles sont garanties sans aucune intervention humaine ni aucun contrôle externe. Cependant, ces systèmes mobiles sont naturellement confrontés à des contraintes de disponibilité des ressources et de capacité énergétique, notamment dans le cadre de mission à longue durée, ces contraintes deviennent plus critiques. De plus, la performance de ces systèmes est également influencée par des conditions environnementales inattendues et non structurées dans lesquelles ils interagissent. La gestion des ressources et de l’énergie en cours de mission est donc un défi pour les robots mobiles autonomes afin de garantir les objectifs de performance souhaités tout en respectant les contraintes. Dans ce contexte, la capacité du système robotique à prendre conscience de ses propres comportements internes et de son environnement physique et à s’adapter à ces circonstances dynamiques devient importante.Cette thèse porte sur la qualité de service et l’efficacité énergétique des systèmes robotiques mobiles et propose une gestion hiérarchique en cours d’exécution afin de garantir ces objectifs non-fonctionnels de chaque mission robotique. Au niveau de la gestion locale de chaque mission, un MISSION MANAGER utilise un mécanisme de prise de décision fondé sur l’apprentissage par renforcement pour reconfigurer automatiquement certains paramètres clés propres à la mission afin de minimiser le niveau de violation des objectifs de performance et des objectifs énergétiques requis. Au niveau de la gestion globale de l’ensemble du système, un MULTI-MISSION MANAGER s’appuie sur des règles de prise de décision et des techniques de raisonnement par cas pour suivre les ressources du système et les réponses des MISSION MANAGERs afin de décider de réallouer le budget énergétique, de régler la qualité du service et de déclencher l’apprentissage en ligne pour chaque mission robotique. La méthodologie proposée a été prototypée et validée avec succès dans un environnement de simulation et le cadre de gestion est également intégré dans notre système robotique mobile réel basé sur une base mobile de Pioneer-3DX équipée d’une plate-forme embarquée de NVIDIA Jetson Xavier
Mobile robotic systems are becoming more and more complex with the integration of advanced sensing and acting components and functionalities to perform the real required missions. For these technical systems, the requirements are divided into two categories: functional and non-functional requirements. While functional requirements represent what the robot must do to accomplish the mission, non-functional requirements represent how the robot performs the mission. Thus, the quality of service and energy efficiency of a robotic mission are classified in this category. The autonomy of these systems is fully achieved when both functional and non-functional requirements are guaranteed without any human intervention or any external control. However, these mobile systems are naturally confronted with resource availability and energy capacity constraints, particularly in the context of long-term missions, these constraints become more critical. In addition, the performance of these systems is also influenced by unexpected and unstructured environmental conditions in which they interact. The management of resources and energy during operation is therefore a challenge for autonomous mobile robots in order to guarantee the desired performance objectives while respecting constraints. In this context, the ability of the robotic system to become aware of its own internal behaviors and physical environment and to adapt to these dynamic circumstances becomes important.This thesis focuses on the quality of service and energy efficiency of mobile robotic systems and proposes a hierarchical run-time management in order to guarantee these non-functional objectives of each robotic mission. At the local management level of each robotic mission, a Mission Manager employs a reinforcement learning-based decision-making mechanism to automatically reconfigure certain key mission-specific parameters to minimize the level of violation of required performance and energy objectives. At the global management level of the whole system, a Multi-Mission Manager leveraged rule-based decision-making and case-based reasoning techniques monitors the system's resources and the responses of Mission Managers in order to decide to reallocate the energy budget, regulate the quality of service and trigger the online learning for each robotic mission.The proposed methodology has been successfully prototyped and validated in a simulation environment and the run-time management framework is also integrated into our real mobile robotic system based on a Pioneer-3DX mobile base equipped with an embedded NVIDIA Jetson Xavier platform

Стилі APA, Harvard, Vancouver, ISO та ін.

6

BOTTA, ANDREA. "Agri.Q - Sustainable Rover for Precision Agriculture." Doctoral thesis, Politecnico di Torino, 2022. http://hdl.handle.net/11583/2963950.

Повний текст джерела

Стилі APA, Harvard, Vancouver, ISO та ін.

7

Corominas, Murtra Andreu. "Map-based localization for urban service mobile robotics." Doctoral thesis, Universitat Politècnica de Catalunya, 2011. http://hdl.handle.net/10803/41555.

Повний текст джерела

Анотація:

Mobile robotics research is currently interested on exporting autonomous navigation results achieved in indoor environments, to more challenging environments, such as, for instance, urban pedestrian areas. Developing mobile robots with autonomous navigation capabilities in such urban environments supposes a basic requirement for a upperlevel service set that could be provided to an users community. However, exporting indoor techniques to outdoor urban pedestrian scenarios is not evident due to the larger size of the environment, the dynamism of the scene due to pedestrians and other moving obstacles, the sunlight conditions, and the high presence of three dimensional elements such as ramps, steps, curbs or holes. Moreover, GPS-based mobile robot localization has demonstrated insufficient performance for robust long-term navigation in urban environments. One of the key modules within autonomous navigation is localization. If localization supposes an a priori map, even if it is not a complete model of the environment, localization is called map-based. This assumption is realistic since current trends of city councils are on building precise maps of their cities, specially of the most interesting places such as city downtowns. Having robots localized within a map allows for a high-level planning and monitoring, so that robots can achieve goal points expressed on the map, by following in a deliberative way a previously planned route. This thesis deals with the mobile robot map-based localization issue in urban pedestrian areas. The thesis approach uses the particle filter algorithm, a well-known and widely used probabilistic and recursive method for data fusion and state estimation. The main contributions of the thesis are divided on four aspects: (1) long-term experiments of mobile robot 2D and 3D position tracking in real urban pedestrian scenarios within a full autonomous navigation framework, (2) developing a fast and accurate technique to compute on-line range observation models in 3D environments, a basic step required by the real-time performance of the developed particle filter, (3) formulation of a particle filter that integrates asynchronous data streams and (4) a theoretical proposal to solve the global localization problem in an active and cooperative way, defining cooperation as either information sharing among the robots or planning joint actions to solve a common goal.
Actualment, la recerca en robòtica mòbil té un interés creixent en exportar els resultats de navegació autònoma aconseguits en entorns interiors cap a d'altres tipus d'entorns més exigents, com, per exemple, les àrees urbanes peatonals. Desenvolupar capacitats de navegació autònoma en aquests entorns urbans és un requisit bàsic per poder proporcionar un conjunt de serveis de més alt nivell a una comunitat d'usuaris. Malgrat tot, exportar les tècniques d'interiors cap a entorns exteriors peatonals no és evident, a causa de la major dimensió de l'entorn, del dinamisme de l'escena provocada pels peatons i per altres obstacles en moviment, de la resposta de certs sensors a la il.luminació natural, i de la constant presència d'elements tridimensionals tals com rampes, escales, voreres o forats. D'altra banda, la localització de robots mòbils basada en GPS ha demostrat uns resultats insuficients de cara a una navegació robusta i de llarga durada en entorns urbans. Una de les peces clau en la navegació autònoma és la localització. En el cas que la localització consideri un mapa conegut a priori, encara que no sigui un model complet de l'entorn, parlem d'una localització basada en un mapa. Aquesta assumpció és realista ja que la tendència actual de les administracions locals és de construir mapes precisos de les ciutats, especialment dels llocs d'interés tals com les zones més cèntriques. El fet de tenir els robots localitzats en un mapa permet una planificació i una monitorització d'alt nivell, i així els robots poden arribar a destinacions indicades sobre el mapa, tot seguint de forma deliberativa una ruta prèviament planificada. Aquesta tesi tracta el tema de la localització de robots mòbils, basada en un mapa i per entorns urbans peatonals. La proposta de la tesi utilitza el filtre de partícules, un mètode probabilístic i recursiu, ben conegut i àmpliament utilitzat per la fusió de dades i l'estimació d'estats. Les principals contribucions de la tesi queden dividides en quatre aspectes: (1) experimentació de llarga durada del seguiment de la posició, tant en 2D com en 3D, d'un robot mòbil en entorns urbans reals, en el context de la navegació autònoma, (2) desenvolupament d'una tècnica ràpida i precisa per calcular en temps d'execució els models d'observació de distàncies en entorns 3D, un requisit bàsic pel rendiment del filtre de partícules a temps real, (3) formulació d'un filtre de partícules que integra conjunts de dades asíncrones i (4) proposta teòrica per solucionar la localització global d'una manera activa i cooperativa, entenent la cooperació com el fet de compartir informació, o bé com el de planificar accions conjuntes per solucionar un objectiu comú.

Стилі APA, Harvard, Vancouver, ISO та ін.

8

Fetzek, Charles A. "Behavior-based power management in autonomous mobile robots." Wright-Patterson AFB : Air Force Institute of Technology, 2008. http://handle.dtic.mil/100.2/ADA487084.

Повний текст джерела

Стилі APA, Harvard, Vancouver, ISO та ін.

9

Chebab, Zine Elabidine. "Conception et commande collaborative de manipulateurs mobiles modulaires (C3M3)." Thesis, Université Clermont Auvergne‎ (2017-2020), 2018. http://www.theses.fr/2018CLFAC070/document.

Повний текст джерела

Анотація:

Dans un contexte d’Industrie 4.0, on perçoit de nouveaux usages possibles des manipulateurs mobiles (MMs), des robots généralement obtenus par l’association d’un bras manipulateur et d’une plate-forme mobile. Ce travail de thèse se focalise sur la synthèse et la commande de nouveaux MMs coopératifs en définissant trois défis à relever. Le premier défi concerne l’élargissement des domaines d’utilisation des robots par la possibilité de leur utilisation coopérative. Nous définissons ainsi un système robotique modulaire basé sur l’utilisation d’entités robotiques appelés mono-robots (m-bots). Ceux-ci sont des MMs qui peuvent se réarranger sous forme de poly-robot (p-bot) pour réaliser une tâche en collaboration. Le deuxième défi se focalise sur la définition de l’architecture cinématique élémentaire de ces robots. Ainsi, nous proposons une démarche générique de synthèse structurale qui permet l’obtention de plusieurs architectures de m-bots respectant les cahiers des charges relatifs à la tâche en tant que m-bot, mais aussi en tant que p-bot pour un environnement considéré. Cette démarche est basée sur l’analyse structurale des MMs à l’aide des paramètres structuraux des mécanismes (connectivité, mobilité, redondance et hyperstatisme). Le troisième défi proposé est d’arriver à modéliser et contrôler les architectures de MMs synthétisées pour la tâche. Deux lois de commande (PID et hybride force-position) sont proposées pour la réalisation de la tâche considérée. Leur validation a été réalisée grâce à des simulations avancées
In recent years, the concept of Industry 4.0 has led to new possibilities of use for mobile manipulators (MMs) that are generally made of a manipulator arm mounted on a mobile base. The current Ph.D. is focused on the synthesis and control of new cooperative MMs by defining three challenges. The first challenge concerns the widening of the fields of application of robots. Therefore, we define a modular robotic system based on the use of multiple MMs (mono robots or m-bots) that can be used as a global system (poly-robot or p-bot) for collaborative tasks. The second challenge concerns the definition of the kinematic structure of the MMs. We propose a new generic method of structural synthesis that allows to obtain multiple kinematic architectures for m-bots that respect the constraints imposed by the task and the workspace. This method is based on structural analysis of MMs by the evaluation of the structural parameters (connectivity, mobility, redundancy and overconstraint). The last challenge concerns the modelling and control of the new architectures for the new fields of application. Two control laws (PID control and hybrid force-position control) are proposed in order to realise the considered task. Their validation is done with advanced simulations

Стилі APA, Harvard, Vancouver, ISO та ін.

10

Gomes, Pedro Miguel de Barros. "LADAR based mapping and obstacle detection system for service robots." Master's thesis, Faculdade de Ciências e Tecnologia, 2010. http://hdl.handle.net/10362/4589.

Повний текст джерела

Анотація:

Dissertação apresentada na Faculdade de Ciências e Tecnologia da Universidade Nova de Lisboa para a obtenção do grau de Mestre em Engenharia Electrotécnica e de Computadores
When travelling in unfamiliar environments, a mobile service robot needs to acquire information about his surroundings in order to detect and avoid obstacles and arrive safely at his destination. This dissertation presents a solution for the problem of mapping and obstacle detection in indoor/outdoor structured3 environments, with particular application on service robots equipped with a LADAR. Since this system was designed for structured environments, offroad terrains are outside the scope of this work. Also, the use of any a priori knowledge about LADAR’s surroundings is discarded, i.e. the developed mapping and obstacle detection system works in unknown environments. In this solution, it is assumed that the robot, which carries the LADAR and the mapping and obstacle detection system, is based on a planar surface which is considered to be the ground plane. The LADAR is positioned in a way suitable for a three dimensional world and an AHRS sensor is used to increase the robustness of the system to variations on robot’s attitude, which, in turn, can cause false positives on obstacle detection. The results from the experimental tests conducted in real environments through the incorporation on a physical robot suggest that the developed solution can be a good option for service robots driving in indoor/outdoor structured environments.

Стилі APA, Harvard, Vancouver, ISO та ін.

11

Lino, Rúben José Simões. "Low cost inertial-based localization system for a service robot." Master's thesis, Faculdade de Ciências e Tecnologia, 2011. http://hdl.handle.net/10362/5680.

Повний текст джерела

Анотація:

Dissertation presented at Faculty of Sciences and Technology of the New University of Lisbon to attain the Master degree in Electrical and Computer Science Engineering
The knowledge of a robot’s location it’s fundamental for most part of service robots. The success of tasks such as mapping and planning depend on a good robot’s position knowledge. The main goal of this dissertation is to present a solution that provides a estimation of the robot’s location. This is, a tracking system that can run either inside buildings or outside them, not taking into account just structured environments. Therefore, the localization system takes into account only measurements relative. In the presented solution is used an AHRS device and digital encoders placed on wheels to make a estimation of robot’s position. It also relies on the use of Kalman Filter to integrate sensorial information and deal with estimate errors. The developed system was testes in real environments through its integration on real robot. The results revealed that is not possible to attain a good position estimation using only low-cost inertial sensors. Thus, is required the integration of more sensorial information, through absolute or relative measurements technologies, to provide a more accurate position estimation.

Стилі APA, Harvard, Vancouver, ISO та ін.

12

Bistry, Hannes [Verfasser], and Jianwei [Akademischer Betreuer] Zhang. "Intelligente Kamerasysteme im Anwendungsfeld mobiler Service-Roboter / Hannes Bistry. Betreuer: Jianwei Zhang." Hamburg : Staats- und Universitätsbibliothek Hamburg, 2014. http://d-nb.info/1058213431/34.

Повний текст джерела

Стилі APA, Harvard, Vancouver, ISO та ін.

13

Ait, Oufroukh Naïma. "Perception intelligente à partir de capteurs frustes pour la robotique de service." Evry-Val d'Essonne, 2002. http://www.theses.fr/2002EVRY0016.

Повний текст джерела

Стилі APA, Harvard, Vancouver, ISO та ін.

14

PRIMATESTA, STEFANO. "Autonomous Navigation for Mobile Robots in Crowded Environments." Doctoral thesis, Politecnico di Torino, 2019. http://hdl.handle.net/11583/2743231.

Повний текст джерела

Стилі APA, Harvard, Vancouver, ISO та ін.

15

Munera, Sánchez Eduardo. "MISSION-ORIENTED HETEROGENEOUS ROBOT COOPERATION BASED ON SMART RESOURCES EXECUTION." Doctoral thesis, Universitat Politècnica de València, 2017. http://hdl.handle.net/10251/88404.

Повний текст джерела

Анотація:

Home environments are changing as more technological devices are used to improve daily life. The growing demand for high technology in our homes means that robot integration will soon arrive. Home devices are evolving in a connected paradigm in which data flows to perform efficient home task management. Heterogeneous home robots connected in a network can establish a workflow that complements their capabilities and so increases performance within a mission execution. This work addresses the definition and requirements of a robot-group mission in the home context. The proposed solution relies on a network of smart resources, which are defined as cyber-physical systems that provide high-level service execution. Firstly, control middleware architecture is introduced as the execution base for the Smart resources. Next, the Smart resource topology and its integration within a robotic platform are addressed. Services supplied by Smart resources manage their execution through a robot behavior architecture. Robot behavior execution is hierarchically organized through a mission definition that can be established as an individual or collective approach. Environment model and interaction tasks characterize the operation capabilities of each robot within a mission. Mission goal achievement in a heterogeneous group is enhanced through the complement of the interaction capabilities of each robot. To offer a clearer explanation, a full use case is presented in which two robots cooperate to execute a mission and the previously detailed steps are evaluated. Finally, some of the obtained results are discussed as conclusions and future works is introduced.
Los entornos domésticos se encuentran sometidos a un proceso de cambio gracias al empleo de dispositivos tecnológicos que mejoran la calidad de vida de las personas. La creciente demanda de alta tecnología en los hogares señala una próxima incorporación de la robótica de servicio. Los dispositivos domésticos están evolucionando hacia un paradigma de conexión en el cual la información fluye para ofrecer una gestión más eficiente. En este entorno, robots heterogéneos conectados a la red pueden establecer un flujo de trabajo que ofreciendo nuevas soluciones y incrementando la eficiencia en la ejecución de tareas. Este trabajo aborda la definición y los requisitos necesarios para la ejecución de misiones en grupos de robots heterogéneos en entornos domésticos. La solución propuesta se apoya en una red de Smart resources, que son definidos como sistemas ciber-físicos que proporcionan servicios de alto nivel. En primer lugar, se presenta la arquitectura del middleware de control en la cual se basa la ejecución de los Smart resources. A continuación se detalla la topología de los Smart resources, así como su integración en plataformas robóticas. Los servicios proporcionados por los Smart resources gestionan su ejecución mediante una arquitectura de comportamientos para robots. La ejecución de estos comportamientos se organiza de forma jerárquica mediante la definición de una misión con un objetivo establecido de forma individual o colectiva a un grupo de robots. Dentro de una misión, las tareas de modelado e interacción con el entorno define las capacidades de operación de los robots dentro de una misión. Mediante la integración de un grupo heterogéneo de robots sus diversas capacidades son complementadas para el logro un objetivo común. A fin de caracterizar esta propuesta, los mecanismos presentados en este documento se evaluarán en detalle a lo largo de una serie experimentos en los cuales un grupo de robots heterogéneos ejecutan una misión colaborativa para alcanzar un objetivo común. Finalmente, los resultados serán discutidos a modo de conclusiones dando lugar el establecimiento de un trabajo futuro.
Els entorns domèstics es troben sotmesos a un procés de canvi gràcies a l'ocupació de dispositius tecnològics que milloren la qualitat de vida de les persones. La creixent demanda d'alta tecnologia a les llars assenyala una propera incorporació de la robòtica de servei. Els dispositius domèstics estan evolucionant cap a un paradigma de connexió en el qual la informació flueix per oferir una gestió més eficient. En aquest entorn, robots heterogenis connectats a la xarxa poden establir un flux de treball que ofereix noves solucions i incrementant l'eficiència en l'execució de tasques. Aquest treball aborda la definició i els requisits necessaris per a l'execució de missions en grups de robots heterogenis en entorns domèstics. La solució proposada es recolza en una xarxa de Smart resources, que són definits com a sistemes ciber-físics que proporcionen serveis d'alt nivell. En primer lloc, es presenta l'arquitectura del middleware de control en la qual es basa l'execució dels Smart resources. A continuació es detalla la tipologia dels Smart resources, així com la seva integració en plataformes robòtiques. Els serveis proporcionats pels Smart resources gestionen la seva execució mitjançant una arquitectura de comportaments per a robots. L'execució d'aquests comportaments s'organitza de forma jeràrquica mitjançant la definició d'una missió amb un objectiu establert de forma individual o col·lectiva a un grup de robots. Dins d'una missió, les tasques de modelatge i interacció amb l'entorn defineix les capacitats d'operació dels robots dins d'una missió. Mitjançant la integració d'un grup heterogeni de robots seves diverses capacitats són complementades per a l'assoliment un objectiu comú. Per tal de caracteritzar aquesta proposta, els mecanismes presentats en aquest document s'avaluaran en detall mitjançant d'una sèrie experiments en els quals un grup de robots heterogenis executen una missió col·laborativa per aconseguir un objectiu comú. Finalment, els resultats seran discutits a manera de conclusions donant lloc a l'establiment d'un treball futur.
Munera Sánchez, E. (2017). MISSION-ORIENTED HETEROGENEOUS ROBOT COOPERATION BASED ON SMART RESOURCES EXECUTION [Tesis doctoral no publicada]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/88404
TESIS

Стилі APA, Harvard, Vancouver, ISO та ін.

16

Herrera-Aguilar, Ignacio. "Commande des bras manipulateurs et retour visuel pour des applications à la robotique de service." Toulouse 3, 2007. http://thesesups.ups-tlse.fr/94/.

Повний текст джерела

Анотація:

Dans le contexte de la robotique de service, les robots doivent interagir avec l'environnement et les humains qui s'y trouvent. La présence d'humain crée un contexte particulier où la sécurité et le confort des utilisateurs prime sur la dynamique du système. L'environnement n'étant pas figé dans ce contexte, l'utilisation de capteurs extéroceptifs est indispensable. Un premier thème développé dans le mémoire est la planification de trajectoires pour laquelle nous proposons de borner la vitesse, l'accélération et le jerk. Les trajectoires sont alors définies par une succession de cubiques, sept pour passer d'une situation initiale à une situation finale quelconque. La méthode est étendu à l'espace et au suivi d'une trajectoire définie par des points, les rotations y sont représentées par des quaternions. Nous proposons ensuite une commande par retour visuel fondée sur le suivi de mouvements souples planifiés. L'utilisation d'un filtre de Kalman étendu pour estimer la position de la cible autorise une auto-calibration du système. Des simulations et des expérimentations sur le robot Jido permettent de valider cette approche. Le planificateur de trajectoire est utilisé quotidiennement sur le robot Jido dans le cadre du projet européen Cogniron
In the context of service robotic, robots have to interact with environment and human. Human presence create a particular context where security and comfort take precedent over system dynamic. As environment is not fixed in this context, the use of exteroceptive sensors is necessary. A first subject developed in the report is the trajectory planning for which we propose to limit velocity, acceleration and jerk. Trajectories are then defined as a sequence of cubic, seven in most to go from a initial position to any final position. The method is extended to space and to the tracking of trajectory defined by points. The rotations are represented by quaternions. We then propose a visual servoing scheme based on the tracking of planned soft movements. Using an extended Kalman filter to estimate the target position permit a self calibration of the system. Simulations and experimentations with the Jido robot permit to validate this approach. The trajectory planner is used daily on Jido for the european Cogniron project

Стилі APA, Harvard, Vancouver, ISO та ін.

17

Ben, Said Hela. "Navigation autonome et commande référencée capteurs de robots d'assistance à la personne." Thesis, Limoges, 2018. http://www.theses.fr/2018LIMO0016/document.

Повний текст джерела

Анотація:

L’autonomie d’un agent mobile se définit par sa capacité à naviguer dans un environnement sans intervention humaine. Cette tâche s’avère très demandée pour les robots d’assistance à la personne. C’est pour cela que notre contribution s’est portée en particulier sur l’instrumentation et l’augmentation de l’autonomie d’un fauteuil roulant pour les personnes à mobilité réduite. L’objectif de ce travail est de concevoir des lois de commande qui permettent à un robot de naviguer en temps réel et en toute autonomie dans un environnement inconnu. Un cadre de perception virtuelle unifié est introduit et permet de projeter l’espace navigable obtenu par des observations éventuellement multiples. Une approche de navigation autonome et sûre a été conçue pour se déplacer dans un environnement peu encombré dont la structure peut être assimilée à un couloir (lignes au sol, murs, délimitation herbes, routes...). La problématique a été résolue en utilisant le formalisme de l’asservissement visuel. Les caractéristiques visuelles utilisées dans la loi de commande ont été construites à partir de la représentation virtuelle (à savoir la position du point de fuite et l’orientation de la ligne médiane du couloir). Pour assurer une navigation sûre et lisse, même lorsque ces paramètres ne peuvent pas être extraits, nous avons conçu un observateur d’état pour estimer les caractéristiques visuelles dans le but de maintenir la commande fonctionnelle du robot. Cette approche permet de faire naviguer un robot mobile dans un couloir même en cas de défaillance sensorielle (données non fiables) et/ou de perte de mesure. La première contribution de cette thèse a été étendue en traitant tout type d’environnement encombré statique ou dynamique. Cela a été réalisé en utilisant le diagramme de Voronoï. Le diagramme de Voronoï généralisé, également appelé squelette, est une représentation puissante de l’environnement. Il définit un ensemble de chemins à la distance maximale des obstacles. Dans ce travail, une approche d’asservissement visuel basée sur le squelette extrait en temps réel était proposée pour une navigation autonome et sûre des robots mobiles. La commande est basée sur une approximation du DVG local en utilisant le Delta Medial axis, un algorithme de squelettisation rapide et robuste. Ce dernier produit un squelette filtré de l’espace libre entourant le robot en utilisant un paramètre qui prend en compte la taille du robot. Cette approche peut faire face aux bruits de mesure au niveau de la perception et au niveau de la commande à cause des glissement des roues. C’est pour cela que nous avons conçu une approche d’asservissement visuel sur une prédiction d’une linéarisation du DVG. Une analyse complète a été réalisée pour montrer la stabilité des lois de commandes proposées. Des simulations et des tests expérimentaux valident l’approche proposée
The autonomy of a mobile agent is defined by its ability to navigate in an environment without human intervention. This task is very required for personal assistance robots. That’s why our contribution has been particularly focused on instrumentation and increasing the autonomy of a wheelchair for reduced mobility peaple. The objective of this work is to design control laws that allow a robot to navigate in real time and independently in an unknown environment. A unified virtual perception framework is introduced and allows to project the navigable space obtained by possibly multiple observations. First we designed an autonomous and safe navigation approach in environment whose structure can be assimilated to a corridor (lines on the ground, walls, delimitation of grasses, roads ...). We have solved this problem by using the formalism of visual servoing. The visual characteristics used in the control law were constructed from the virtual representation (ie the position of the vanishing point and the orientation of the center line of the corridor). To ensure safe and smooth navigation, even when these parameters can not be extracted, we have designed a finite-time state observer to estimate the visual characteristics in order to maintain the robot’s control efficient. This approach let a mobile robot navigate in a corridor even in in the case of sensory failure (unreliable data) and/or loss of measurement. We have extended the first contribution of this work with dealing with any type of static or dynamic environment. This was done using the Voronoi diagram. The Generalized Voronoi Diagram (GVD), also named skeleton, is a powerful environment representation, since, among other reasons, it defines a set of paths at maximal distance from the obstacles. In this work, a real time skeleton based visual servoing approach is proposed for a safe autonomous navigation of mobile robots. The control is based on an approximation of the local GVD using the Delta Medial Axis, a fast and robust skeletonization algorithm. The latter produces a filtered skeleton of the free space surrounding the robot using a pruning parameter that takes into account the robot size. This approach can cope with measurement noises at the perception and control with the wheel slip. This is why we have designed a visual servoing approach on a prediction of a GVD linearization. A complete analysis was performed to show the stability of the proposed control laws. Simulations and experimental tests validate the proposed approach

Стилі APA, Harvard, Vancouver, ISO та ін.

18

Kauppi, Ilkka. "Intermediate language for mobile robots : a link between the high-level planner and low-level services in robots /." Espoo [Finland] : VTT Technical Research Centre of Finland, 2003. http://www.vtt.fi/inf/pdf/publications/2003/P510.pdf.

Повний текст джерела

Стилі APA, Harvard, Vancouver, ISO та ін.

19

Poschmann, Peter. "Multi-sensor multi-person tracking on a mobile robot platform." Doctoral thesis, Technische Universitaet Bergakademie Freiberg Universitaetsbibliothek "Georgius Agricola", 2018. http://nbn-resolving.de/urn:nbn:de:bsz:105-qucosa-235210.

Повний текст джерела

Анотація:

Service robots need to be aware of persons in their vicinity in order to interact with them. People tracking enables the robot to perceive persons by fusing the information of several sensors. Most robots rely on laser range scanners and RGB cameras for this task. The thesis focuses on the detection and tracking of heads. This allows the robot to establish eye contact, which makes interactions feel more natural. Developing a fast and reliable pose-invariant head detector is challenging. The head detector that is proposed in this thesis works well on frontal heads, but is not fully pose-invariant. This thesis further explores adaptive tracking to keep track of heads that do not face the robot. Finally, head detector and adaptive tracker are combined within a new people tracking framework and experiments show its effectiveness compared to a state-of-the-art system.

Стилі APA, Harvard, Vancouver, ISO та ін.

20

Cogrel, Benjamin. "Sélection contextuelle de services continus pour la robotique ambiante." Thesis, Paris Est, 2013. http://www.theses.fr/2013PEST1079/document.

Повний текст джерела

Анотація:

La robotique ambiante s'intéresse à l'introduction de robots mobiles au sein d'environnements actifs où ces derniers fournissent des fonctionnalités alternatives ou complémentaires à celles embarquées par les robots mobiles. Cette thèse étudie la mise en concurrence des fonctionnalités internes et externes aux robots, qu'elle pose comme un problème de sélection de services logiciels. La sélection de services consiste à choisir un service ou une combinaison de services parmi un ensemble de candidats capables de réaliser une tâche requise. Pour cela, elle doit prédire et évaluer la performance des candidats. Ces performances reposent sur des critères non-fonctionnels comme la durée d'exécution, le coût ou le bruit. Ce domaine applicatif a pour particularité de nécessiter une coordination étroite entre certaines de ses fonctionnalités. Cette coordination se traduit par l'échange de flots de données entre les fonctionnalités durant leurs exécutions. Les fonctionnalités productrices de ces flots sont modélisées comme des services continus. Cette nouvelle catégorie de services logiciels impose que les compositions de services soient hiérarchiques et introduit des contraintes supplémentaires pour la sélection de services. Cette thèse met en évidence la présence d'un important couplage non-fonctionnel entre les performances des instances de services de différents niveaux, même lorsque les flots de données sont unidirectionnels. L'approche proposée se concentre sur la prédiction de la performance d'une instance de haut-niveau sachant son organigramme à l'issue de la sélection. Un organigramme regroupe l'ensemble des instances de services sollicitées pour réaliser une tâche de haut-niveau. L'étude s'appuie sur un scénario impliquant la sélection d'un service de positionnement en vue de permettre le déplacement d'un robot vers une destination requise. Pour un organigramme considéré, la prédiction de performance d'une instance de haut-niveau de ce scénario introduit les exigences suivantes : elle doit (i)être contextuelle en tenant compte, par exemple, du chemin suivi pour atteindre la destination requise, (ii) prendre en charge le remplacement d'une instance de sous-service suite à un échec ou, par extension, de façon opportuniste. En conséquence, cette sélection de services est posée comme un problème de prise de décision séquentielle formalisé à l'aide de processus de décision markoviens à horizon fini. La dimensionnalité importante du contexte en comparaison à la fréquence des déplacements du robot rend inadaptées les méthodes consistant à apprendre directement une fonction de valeur ou une fonction de transition. L'approche proposée repose sur des modèles de dynamique locaux et exploite le chemin de déplacement calculé par un sous-service pour estimer en ligne les valeurs des organigrammes disponibles dans l'état courant. Cette estimation est effectuée par l'intermédiaire d'une méthode de fouille stochastique d'arbre, Upper Confidence bounds applied to Trees
Ambient robotics aims at introducing mobile robots in active environments where the latter provide new or alternative functionalities to those shipped by mobile robots. This thesis studies the competition between robot and external functionalities, which is set as a service selection problem. Service selection consists in choosing a service or a combination of services among a set of candidates able to fulfil a given request. To do this, it has to predict and evaluate candidate performances. These performances are based on non-functional requirements such as execution time, cost or noise. This application domain requires tight coordination between some of its functionalities. Tight coordination involves setting data streams between functionalities during their execution. In this proposal, functionalities producing data streams are modelled as continuous services. This new service category requires hierarchical service composition and adds some constraints to the service selection problem. This thesis shows that an important non-functional coupling appears between service instances at different levels, even when data streams are unidirectional. The proposed approach focuses on performance prediction of an high-level service instance given its organigram. This organigram gathers service instances involved in the high-level task processing. The scenario included in this study is the selection of a positioning service involved in a robot navigation high-level service. For a given organigram, performance prediction of an high-level service instance of this scenario has to: (i) be contextual by, for instance, considering moving path towards the required destination, (ii) support service instance replacement after a failure or in an opportunist manner. Consequently, this service selection is set as a sequential decision problem and is formalized as a finite-horizon Markov decision process. Its high contextual dimensionality with respect to robot moving frequency makes direct learning of Q-value functions or transition functions inadequate. The proposed approachre lies on local dynamic models and uses the planned moving path to estimate Q-values of organigrams available in the initial state. This estimation is done using a Monte-Carlo tree search method, Upper Confidence bounds applied to Trees

Стилі APA, Harvard, Vancouver, ISO та ін.

21

Wilden, Johannes. "Kognitionsorientierter modularer und autonomer Servive-Roboter zur Vor-Ort-Instandsetzung von Tiefzieh- und Spritzgusswerkzeugen in wechselnden Kontexten (KomoRob)." Aachen Mainz, 2009. http://d-nb.info/997950595/04.

Повний текст джерела

Стилі APA, Harvard, Vancouver, ISO та ін.

22

Diop, El hadji Serigne Mamour. "Optimisation de la transmission d'images dans les réseaux de capteurs pour des applications critiques de surveillance." Thesis, Pau, 2014. http://www.theses.fr/2014PAUU3011/document.

Повний текст джерела

Анотація:

L’émergence de petites caméras CMOS et de microphones MEMS, à coût et puissance réduits, a contribué au développement d’une technologie permettant la transmission de flux multimédia (audio, image, vidéo) : les réseaux de capteurs multimédia. Cette technologie, offrant de nouvelles perspectives d’applications potentielles où la collecte d’informations visuelles et/ou acoustiques apporte une plus- value certaine, suscite un intérêt manifeste. Avec des données multimédia, la qualité de service devient désormais une exigence fondamentale pour la transmission dans un environnement contraint en ressources. Dans le contexte spécifique de cette thèse, nous considérons un déploiement par voie aérienne d’une grande quantité de capteurs image pour des applications critiques de surveillance telles que la détection d’intrusion ou des opérations de recherche et sauvetage. La prise en compte de la criticité des applications constitue un aspect important de cette thèse, novateur par rapport aux contributions déjà effectuées dans le domaine. Nos travaux se fondent sur une méthode d’ordonnancement adaptatif de l’activité des capteurs image qui fournit, pour chacun d’entre eux, son ensemble de cover-sets. La détection d’un événement dans le réseau déclenche la transmission d’une large quantité d’informations visuelles, émanant de plusieurs sources pour résoudre les ambiguïtés. L’objectif de cette thèse est d’optimiser cette transmission simultanée d’images causant des désagréments sur le réseau. Nous avons tout d’abord proposé une stratégie de sélection des cover-sets pertinents à activer pour une transmission efficace des images capturées. Cette stratégie, basée sur des critères d’état et de voisinage, assure un compromis entre autonomie et criticité. Une extension multi-chemin de GPSR assure la remontée des images émises des sources sélectionnées au puits. Une seconde contribution, également une approche de sélection, se fonde sur les informations de chemins à 2 sauts pour la sélection des cover-sets. Contrairement à la précédente, elle accorde une priorité à la criticité par rapport à la préservation de l’énergie, même si cette préservation est faite de manière indirecte. Un protocole de routage multi-chemin T-GPSR essentiellement basé sur les informations à 2 sauts est associé à la seconde approche de sélection. Une étude de performances de la mobilité du puits sur les propositions basées sur les informations à 2 sauts constitue notre troisième contribution
Recent advances of inexpensive and low-power CMOS cameras and MEMS mi- crophones have led to the emergence of Wireless Multimedia Sensor Networks (WMSNs). WMSNs promise a wide spectrum of potential applications which require to ubiquitously capture multimedia content (visual and audio information). To support the transmission of multimedia content in a resource constrained environment, WMSNs may require a certain level of quality of service (QoS) in terms of delay, bandwidth, jitter, reliability, quality level etc. In this thesis, we consider Wireless Image Sensor Networks (WISNs) where sensor nodes equipped with miniaturized visual cameras to provide accurate information in various geographical parts of an area of interest can be thrown in mass for mission-critical applications such as intrusion detection or search & rescue. An innovative and important aspect of this thesis is to take into account the criticality of applications. The network adopts an adaptive scheduling of image sensor node’s activity based on the application criticality level, where each node computes its cover-sets. So, event detection triggers the simulataneous transmission of a large volume of visual data from multiples sources to the Sink. The main objective of this thesis is to optimize this simultaneous transmission of images that can degrade network performance. With this goal in mind, we first proposed a multi-criteria approach to select the suitable cover-sets to be activated for reliable transmission of images in mission-critical applications. The proposed approach takes into account various parameters that affect the image quality at the Sink in a multi-hop transmission network and guarantees a compromise between autonomy and criticality. A modified version of GPSR routing protocol supporting the transmission of multimedia streams ensures the transfer of images from selected sources to the Sink. The second contribution consists in an optimized selection strategy based on 2-hop neighborhood information to determine the most relevant cover-sets to be activated to increase reliability for image transmission. This selection approach prioritizes the application’s criticality. A multipath extension of GPSR, called T-GPSR, wherein routing decisions are based 2-hop neighborhood information is also proposed. A performance study of the sink mobility on proposals based on 2-hop information is our third contribution

Стилі APA, Harvard, Vancouver, ISO та ін.

23

Barbeau, Sean J. "A Location-Aware Architecture Supporting Intelligent Real-Time Mobile Applications." Scholar Commons, 2012. http://scholarcommons.usf.edu/etd/3968.

Повний текст джерела

Анотація:

This dissertation presents LAISYC, a modular location-aware architecture for intelligent real-time mobile applications that is fully-implementable by third party mobile app developers and supports high-precision and high-accuracy positioning systems such as GPS. LAISYC significantly improves device battery life, provides location data authenticity, ensures security of location data, and significantly reduces the amount of data transferred between the phone and server. The design, implementation, and evaluation of LAISYC using real mobile phones include the following modules: the GPS Auto-Sleep module saves battery energy when using GPS, maintaining acceptable movement tracking (approximately 89% accuracy) with an approximate average doubling of battery life. The Location Data Signing module adds energy-efficient data authenticity to this architecture that is missing in other architectures, with an average approximate battery life decrease of only 7%. The Session Management and Adaptive Location Data Buffering modules also contribute to battery life savings by providing energy-efficient real-time data communication between a mobile phone and server, increasing the average battery life for application data transfer by approximately 28% and reducing the average energy cost for location data transfer by approximately 38%. The Critical Point Algorithm module further reduces battery energy expenditures and the amount of data transferred between the mobile phone and server by eliminating non-essential GPS data (an average 77% reduction), with an average doubling of battery life as the interval of time between location data transmissions is doubled. The Location Data Encryption module ensures the security of the location data being transferred, with only a slight impact on battery life (i.e., a decrease of 4.9%). The LAISYC architecture was validated in two innovative mobile apps that would not be possible without LAISYC due to energy and data transfer constraints. The first mobile app, TRAC-IT, is a multi-modal travel behavior data collection tool that can provide simultaneous real-time location-based services. In TRAC-IT, the GPS Auto-Sleep, Session Management, Adaptive Location Data Buffering, Critical Point algorithm, and the Session Management modules all contribute energy savings that enable the phone's battery to last an entire day during real-time high-resolution GPS tracking. High-resolution real-time GPS tracking is critical to TRAC-IT for reconstructing detailed travel path information, including distance traveled, as well as providing predictive, personalized traffic alerts based on historical and real-time data. The Location Data Signing module allows transportation analysts to trust information that is recorded by the application, while the Location Data Encryption module protects the privacy of users' location information. The Session Management, Adaptive Location Data Buffering, and Critical Point algorithm modules allow TRAC-IT to avoid data overage costs on phones with limited data plans while still supporting real-time location data communication. The Adaptive Location Data Buffering module prevents tracking data from being lost when the user is outside network coverage or is on a voice call for networks that do not support simultaneous voice and data communications. The second mobile app, the Travel Assistance Device (TAD), assists transit riders with intellectual disabilities by prompting them when to exit the bus as well as tracking the rider in real-time and alerting caregivers if they are lost. In the most recent group of TAD field tests in Tampa, Florida, TAD provided the alert in the ideal location to transit riders in 100% (n = 33) of tests. In TAD, the GPS Auto-Sleep, Session Management, Adaptive Location Data Buffering, Critical Point algorithm, and the Session Management modules all contribute energy savings that enable the phone's battery to last an entire day during real-time high-resolution GPS tracking. High-resolution GPS tracking is critical to TAD for providing accurate instructions to the transit rider when to exit the bus as well as tracking an accurate location of the traveler so that caregivers can be alerted if the rider becomes lost. The Location Data Encryption module protects the privacy of the transit rider while they are being tracked. The Session Management, Adaptive Location Data Buffering, and Critical Point algorithm modules allow TAD to avoid data overage costs on phones with limited data plans while still supporting real-time location data communication for the TAD tracking alert features. Adaptive Location Data Buffering module prevents transit rider location data from being lost when the user is outside network coverage or is on a voice call for networks that do not support simultaneous voice and data communications.

Стилі APA, Harvard, Vancouver, ISO та ін.

24

Ranieri, Caetano Mazzoni. "Ambiente para interação baseada em reconhecimento de emoções por análise de expressões faciais." Universidade de São Paulo, 2016. http://www.teses.usp.br/teses/disponiveis/55/55134/tde-01112016-095942/.

Повний текст джерела

Анотація:

Nas ciências de computação, o estudo de emoções tem sido impulsionado pela construção de ambientes interativos, especialmente no contexto dos dispositivos móveis. Pesquisas envolvendo interação humano-robô têm explorado emoções para propiciar experiências naturais de interação com robôs sociais. Um dos aspectos a serem investigados é o das abordagens práticas que exploram mudanças na personalidade de um sistema artificial propiciadas por alterações em um estado emocional inferido do usuário. Neste trabalho, é proposto um ambiente para interação humano-robô baseado em emoções, reconhecidas por meio de análise de expressões faciais, para plataforma Android. Esse sistema consistiu em um agente virtual agregado a um aplicativo, o qual usou informação proveniente de um reconhecedor de emoções para adaptar sua estratégia de interação, alternando entre dois paradigmas discretos pré-definidos. Nos experimentos realizados, verificou-se que a abordagem proposta tende a produzir mais empatia do que uma condição controle, entretanto esse resultado foi observado somente em interações suficientemente longas.
In computer sciences, the development of interactive environments have motivated the study of emotions, especially on the context of mobile devices. Research in human-robot interaction have explored emotions to create natural experiences on interaction with social robots. A fertile aspect consist on practical approaches concerning changes on the personality of an artificial system caused by modifications on the users inferred emotional state. The present project proposes to develop, for Android platform, an environment for human-robot interaction based on emotions. A dedicated module will be responsible for recognizing emotions by analyzing facial expressions. This system consisted of a virtual agent aggregated to an application, which used information of the emotion recognizer to adapt its interaction strategy, alternating between two pre-defined discrete paradigms. In the experiments performed, it was found that the proposed approach tends to produce more empathy than a control condition, however this result was observed only in sufficiently long interactions.

Стилі APA, Harvard, Vancouver, ISO та ін.

25

Guo, Mingming. "User-Centric Privacy Preservation in Mobile and Location-Aware Applications." FIU Digital Commons, 2018. https://digitalcommons.fiu.edu/etd/3674.

Повний текст джерела

Анотація:

The mobile and wireless community has brought a significant growth of location-aware devices including smart phones, connected vehicles and IoT devices. The combination of location-aware sensing, data processing and wireless communication in these devices leads to the rapid development of mobile and location-aware applications. Meanwhile, user privacy is becoming an indispensable concern. These mobile and location-aware applications, which collect data from mobile sensors carried by users or vehicles, return valuable data collection services (e.g., health condition monitoring, traffic monitoring, and natural disaster forecasting) in real time. The sequential spatial-temporal data queries sent by users provide their location trajectory information. The location trajectory information not only contains users’ movement patterns, but also reveals sensitive attributes such as users’ personal habits, preferences, as well as home and work addresses. By exploring this type of information, the attackers can extract and sell user profile data, decrease subscribed data services, and even jeopardize personal safety. This research spans from the realization that user privacy is lost along with the popular usage of emerging location-aware applications. The outcome seeks to relive user location and trajectory privacy problems. First, we develop a pseudonym-based anonymity zone generation scheme against a strong adversary model in continuous location-based services. Based on a geometric transformation algorithm, this scheme generates distributed anonymity zones with personalized privacy parameters to conceal users’ real location trajectories. Second, based on the historical query data analysis, we introduce a query-feature-based probabilistic inference attack, and propose query-aware randomized algorithms to preserve user privacy by distorting the probabilistic inference conducted by attackers. Finally, we develop a privacy-aware mobile sensing mechanism to help vehicular users reduce the number of queries to be sent to the adversarial servers. In this mechanism, mobile vehicular users can selectively query nearby nodes in a peer-to-peer way for privacy protection in vehicular networks.

Стилі APA, Harvard, Vancouver, ISO та ін.

26

Mainprice, Jim. "Planification de mouvement pour la manipulation d'objets sous contraintes d'interaction homme-robot." Phd thesis, INSA de Toulouse, 2012. http://tel.archives-ouvertes.fr/tel-00782708.

Повний текст джерела

Анотація:

Un robot agit sur son environnement par le mouvement, sa capacité à planifier ses mouvements est donc une composante essentielle de son autonomie. La planification de mouvement est un domaine de recherche qui a largement été étudié durant ces dernières décennies. L'objectif de cette thèse est de concevoir des méthodes algorithmiques performantes permettant le calcul automatique de trajectoires pour des systèmes robotiques complexes dans le cadre de la robotique d'assistance. Ce champ applicatif émergeant de la robotique autonome apporte de nouvelles contraintes et de nouveaux défis. Les systèmes considérés qui ont pour vocation de servir l'homme et de l'accompagner dans des tâches du quotidien doivent tenir compte de la sécurité et du bien-être de l'homme. Pour cela, les mouvements du robot doivent être générés en considérant explicitement le partenaire humain raisonant sur un modèle du comportement social de l'homme, de ses capacités et de ses limites afin de produire un comportement synergique optimal. Dans cette thèse nous étendons les travaux pionniers menés au LAAS dans ce domaine afin de produire des mouvements considérant l'homme de manière explicite dans des environnements encombrés. Des algorithmes d'exploration de l'espace des configurations par échantillonnage aléatoire sont combinés à des algorithmes d'optimisation de trajectoire afin de produire des mouvements sûrs et agréables. Nous proposons dans un deuxième temps un planificateur de tâche d'échange d'objet prenant en compte la mobilité du receveur humain permettant ainsi de partager l'effort lors du transfert. La pertinence de cette approche a été étudiée dans une étude utilisateur. Finalement, nous présentons une architecture logicielle qui permet de prendre en compte l'homme de manière dynamique lors de la réalisation de tâches de manipulation interactive. Cette architecture, développée en collaboration avec un partenaire du projet européen Dexmart a également été évaluée dans une étude utilisateur.

Стилі APA, Harvard, Vancouver, ISO та ін.

27

Mittet, Marie-Anne. "Caméras 3D pour la localisation d'un système mobile en environnement urbain." Thesis, Strasbourg, 2015. http://www.theses.fr/2015STRAD015/document.

Повний текст джерела

Анотація:

L’objectif de la thèse est de développer un nouveau système de localisation mobile composé de trois caméras 3D de type Kinect et d’une caméra additionnelle de type Fish Eye. La solution algorithmique est basée sur l’odométrie visuelle et permet de calculer la trajectoire du mobile en temps réel à partir des données fournies par les caméras 3D. L’originalité de la méthodologie réside dans l’exploitation d’orthoimages créées à partir des nuages de points acquis en temps réel par les trois caméras. L’étude des différences entre les orthoimages successives acquises par le système mobile permet d’en déduire ses positions successives et d’en calculer sa trajectoire
The aim of the thesis is to develop a new kind of localization system, composed of three 3D cameras such as Kinect and an additional Fisheye camera. The localization algorithm is based on Visual Odometry principles in order to calculate the trajectory of the mobile platform in real time from the data provided by the 3D cameras.The originality of the processing method lies within the exploitation of orthoimages processed from the point clouds that are acquired in real time by the three cameras. The positions and trajectory of the mobile platform can be derived from the study of the differences between successive orthoimages

Стилі APA, Harvard, Vancouver, ISO та ін.

28

Ibarra, Manzano Mario Alberto. "Vision multi-caméras pour la détection d'obstacles sur un robot de service : des algorithmes à un système intégré." Thesis, Toulouse, INSA, 2011. http://www.theses.fr/2011ISAT0044/document.

Повний текст джерела

Анотація:

L'une des tâches les plus importantes en robotique mobile est la détection d'obstacles pendant les déplacements du robot. Pour résoudre cette tâche, de nombreuses approches ont été proposées; cependant les propositions applicables dans un milieu structuré, dynamique et fortement encombré du fait de la présence humaine, sont limitées. Dans ce cadre, nous présentons dans ces travaux un système visuel reprogrammable dédié à la détection d'obstacles. Le système est composé de plusieurs micro-caméras disposées autour du robot mobile et d'un système reprogrammable. Le nombre de micro-caméras est grand (4 dans la version courante, 8 dans la version finale) et la performance en temps réel requis dans ce contexte, ne peut pas être satisfaite par un processeur standard. Cela rend obligatoire la conception et la mise en oeuvre d'une architecture dédiée pour le traitement des images. Le parallélisme fourni par les FPGAs permet de répondre aux contraintes de performance et de minimiser l'énergie et le coût unitaire du système. L'objectif est de construire et mettre à jour une grille d'occupation robot-centrée lors de la navigation du robot. Cette opération doit être exécutée à 30Hz, afin de réduire la latence entre l'acquisition des images et la détection des obstacles. La détection des zones du sol occupées est faite par l'algorithme de classification AdaBoost en utilisant un vecteur d'attributs. Les attributs utilisés sont la couleur et la texture. Pour la couleur, nous utilisons l'espace de couleur CIE-Lab, car cela permet d'avoir une plus grande immunité au changement de l'éclairage. Les attributs de texture sont obtenues par une méthode adaptée de la technique des histogrammes de sommes et différences. Cette adaptation réduit considérablement les ressources nécessaires pour calculer les attributs de texture, tout en fournissant un modèle riche de chacun des objets présents dans une scène acquise par une des micro-caméras. Chaque pixel dans l'image est classifié pour savoir s'il appartient ou pas au sol, en fonction de ces attributs couleur-texture. Une fois le pixel classé, il est projeté sur le plan du sol pour enrichir la grille d'occupation courante de l'environnement. Plusieurs paramètres de notre approche ont été sélectionnés afin de développer un système avec le meilleur compromis entre les performances et les ressources consommées. Les graphiques de performances de la classification ainsi que les ressources consommées par les architectures implantées sont présentés. Les architectures ont été développées en VHDL avec les outils Altera; des comparaisons sont présentées avec une approche fondée sur des outils de synthèse haut-niveau (Gaut, labview...). Finalement ces architectures ont été portées et évaluées sur un kit Stratix3 connecté à 4 caméras et embarqué sur un robot mobile
One of the more important tasks to be executed on a mobile robot, concerns thedetection of obstacles during the robot motions. Many methods have been proposed for this function: nevertheless their performances are limited when applied in a structured environment made highly dynamic and cluttered due to humans. This document presents a visual and flexible system for obstacle detection in such an environment. The system is made of several micro-cameras fixed all around the robot body, and of a programmable electronic board. The camera number must be large enough (4 in the current version, 8 in the future one), so that real-time performances mandatory for such a function, cannot be reached from a standard multipurpose processor. It makes compulsory to design and to implement a hardware architecture devoted for image processing. The execution of parallel processes on FPGAs allows to reach real-time performances, while minimizing the required energy and the system cost. The system objective consists in building and updating a robot-centered occupancy grid while the robot is navigating. This function must be executed at 30Hz, in order to minimize the latency between image acquisition and obstacle detection.The detection of occupied ground areas is given by a classification algorithm, using an AdaBoost classifier on characteristic vectors. These vectors are built from color and texture attributes. For the color, the CIE-Lab space has been selected because it allows a better invariance according to the light variations. For the texture, an original method has been proposed adapting the Unser approach based on sum and difference histograms. This approach has been modified in order to reduce significantly the resources required to compute the texture attributes, while providing a fine model for every object detected on a scene acquired by each micro-camera. Each pixel in every image is classified as Ground or Obstacle, with respect to its color and texture attributes. Once a pixel is classified, it is projected on the ground plane in order to update the current occupancy grid built to represent the environment. Many parameters for our approach have been selected in order to develop a system with the better trade-off between performances and consumed resources. Every proposed architecture is evaluated using curves between classification performances and required resources. These architectures have been developed in VHDL using the Altera tool boxes; this classical approach has been compared with a method based on tools providing high level synthesis (Gaut, labview...). Finally all architectures avec been implemented and evaluated on a Stratix3 development kit connected to four cameras, and embedded on a mobile robot

Стилі APA, Harvard, Vancouver, ISO та ін.

29

Schäfer, Dirk. "Globale Selbstlokalisation autonomer mobiler Roboter - Ein Schlüsselproblem der Service-Robotik." Doctoral thesis, 2003. https://nbn-resolving.org/urn:nbn:de:bvb:20-opus-7601.

Повний текст джерела

Анотація:

Die Dissertation behandelt die Problemstellung der globalen Selbstlokalisation autonomer mobiler Roboter, welche folgendermaßen beschrieben werden kann: Ein mobiler Roboter, eingesetzt in einem Gebäude, kann unter Umständen das Wissen über seinen Standort verlieren. Man geht nun davon aus, dass dem Roboter eine Gebäudekarte als Modell zur Verfügung steht. Mit Hilfe eines Laser-Entfernungsmessers kann das mobile Gerät neue Informationen aufnehmen und damit bei korrekter Zuordnung zur Modellkarte geeignete hypothetische Standorte ermitteln. In der Regel werden diese Positionen aber mehrdeutig sein. Indem sich der Roboter intelligent in seiner Einsatzumgebung bewegt, kann er die ursprünglichen Sensordaten verifizieren und ermittelt im besten Fall seine tatsächliche Position.Für diese Problemstellung wird ein neuer Lösungsansatz in Theorie und Praxis präsentiert, welcher die jeweils aktuelle lokale Karte und damit alle Sensordaten mittels feature-basierter Matchingverfahren auf das Modell der Umgebung abbildet. Ein Explorationsalgorithmus bewegt den Roboter während der Bewegungsphase autonom zu Sensorpunkten, welche neue Informationen bereitstellen. Während der Bewegungsphase werden dabei die bisherigen hypothetischen Positionen bestärkt oder geschwächt, sodaß nach kurzer Zeit eine dominante Position, die tatsächliche Roboterposition,übrigbleibt
This thesis is dealing with the global self-localisation problem, which is known to be one of the hardest problems among autonomous mobile systems. The problem can be described as follows: A mobile robot agent has a map of the environment but does not know its position. It is equipped with ultransonic sensors and a laser range finder as main sensor. The goal of the robot agent is to recognize its true position within the environment.The level of complexity of this task increases with the size and also with the level of symmetry of the indoor environment. To cope with the problem a new approach will be presented in this thesis using state of the art map building and exploration algorithms as well as feature based localisation methods. Decomposition of the global map into a number of submaps, informative feature selection and multiple submap localisation queries ensure the road of success. The capability of the approach to global self-localising the robot is pointed out by several practical studies

Стилі APA, Harvard, Vancouver, ISO та ін.

30

De, Villiers Mark. "Design of an autonomous mobile robot for service applications." Thesis, 2011. http://hdl.handle.net/10413/5076.

Повний текст джерела

Анотація:

This research project proposes the development of an autonomous, omnidirectional vehicle that will be used for general indoor service applications. A suggested trial application for this service robot will be to deliver printouts to various network users in their offices. The robot will serve as a technology demonstrator and could later also be used for other tasks in an office, medical or industrial environment. The robot will use Mecanum wheels (also known as Swedish 45° or Ilon wheels) to achieve omnidirectionality. This will be especially useful in the often cramped target environments, because the vehicle effectively has a zero radius turning circle and is able to change direction of motion without changing its pose. Part of the research will also be to investigate a novel propulsion system based on the Mecanum wheel. The robot will form part of a portfolio of service robots that the Mechatronics and Micro Manufacturing (MMM) group at the CSIR is busy developing. Service robots are typically used to perform Dull, Dangerous or Dirty work, where human presence is not essential if the robot can perform the task reliably and successfully.
Thesis (M.Sc.Eng.)-University of KwaZulu-Natal, Durban, 2011.

Стилі APA, Harvard, Vancouver, ISO та ін.

31

Bosscha, Peter Antoon. "Design and construction of Meercat : an autonomous indoor and outdoor courier service robot." Thesis, 2011. http://hdl.handle.net/10413/5085.

Повний текст джерела

Анотація:

This project details the construction and development of, and experimentation with a mobile service courier robot named Meercat. This robot has been built from the ground up using parts sourced from various places. The application for this service robot is the delivery of internal mail parcels between the buildings situated on the campus of the Council for Scientific and Industrial Research (CSIR) in Pretoria. To achieve this, the robot has to be able to localise and navigate through indoor office and laboratory environments and over outdoor tarred roads which interconnect the various buildings. Not many robots are intended for operation in both indoor and outdoor environments, and to achieve this, multiple sensing systems are implemented on the platform, where the correct selection of sensing inputs is a key aspect. Further testing and experiments will take place with algorithms for localisation and navigation. As a limited budget was available for the development of this robot, cost-effective solutions had to be found for the mechanical, sensing and computation needs. The Mechatronics group from the Mechatronics and Micro Manufacturing (MMM) competency area at the CSIR is involved with the development of various autonomous mobile robots. The particular robot developed in this project will be an addition to the CSIR’s current fleet of robots and will be used as a stepping stone for experimentation with new sensors and electronics, and the development of further positioning and navigation algorithms.
Thesis (M.Sc.Eng.)-University of KwaZulu-Natal, Durban, 2011.

Стилі APA, Harvard, Vancouver, ISO та ін.

32

Schäfer, Dirk [Verfasser]. "Globale Selbstlokalisation autonomer mobiler Roboter : ein Schlüsselproblem der Service-Robotik / vorgelegt von Dirk Schäfer." 2004. http://d-nb.info/970412584/34.

Повний текст джерела

Стилі APA, Harvard, Vancouver, ISO та ін.

33

Miskeen, Guzlan M. A., Demetres D. Kouvatsos, and Zadeh Esmaeil Habib. "An Exposition of Performance-Security Trade-offs in RANETs Based on Quantitative Network Models." 2013. http://hdl.handle.net/10454/9692.

Повний текст джерела

Анотація:

No
Security mechanisms, such as encryption and authentication protocols, require extra computing resources and therefore, have an adverse effect upon the performance of robotic mobile wireless ad hoc networks (RANETs). Thus, an optimal performance and security trade-off should be one of the main aspects that should be taken into consideration during the design, development, tuning and upgrading of such networks. In this context, an exposition is initially undertaken on the applicability of Petri nets (PNs) and queueing networks (QNs) in conjunction with their generalisations and hybrid integrations as robust quantitative modelling tools for the performance analysis of discrete flow systems, such as computer systems, communication networks and manufacturing systems. To overcome some of the inherent limitations of these models, a novel hybrid modelling framework is explored for the quantitative evaluation of RANETs, where each robotic node is represented by an abstract open hybrid G-GSPN_QN model with head-of-line priorities, subject to combined performance and security metrics (CPSMs). The proposed model focuses on security processing and state-based control and it is based on an open generalised stochastic PN (GSPN) with a gated multi-class 'On-Off' traffic and mobility model. Moreover, it employs a power consumption model and is linked in tandem with an arbitrary QN consisting of finite capacity channel queues with blocking for 'intra' robot component-to-component communication and 'inter' robot-to-robot transmission. Conclusions and future research directions are included.

Стилі APA, Harvard, Vancouver, ISO та ін.

34

Reverendo, Nelson Almeida. "Indoor autonomous navigation for service robots using beacons." Master's thesis, 2018. http://hdl.handle.net/10773/25892.

Повний текст джерела

Анотація:

Nowadays robots are becoming more present in our daily life performing a variety of on-demand services. In order to perform autonomous tasks the robot should be aware of its environment. To achieve this goal, there are three main problems to solve: mapping, localisation and navigation. During this work, we developed an autonomous welcome robot for the Institute of Electronics and Informatics Engineering of Aveiro ( IEETA ) with the capacity to receive requests from a visitor and guide him to the requested destination. At the end of this task, the robot should return autonomously to its docking station. To accomplish this goal we studied algorithms related to the three referred problems. As an example, a laser-based solution is used for the Simultaneous Localisation and Mapping procedure ( Gmapping ), the adaptive Monte Carlo localisation approach (AMCL) for the robot moving in 2-D and A* as a method for path planning. Improvements have been made regarding the use of these algorithms including in the environment an active localisation system based on the use of ultrasound beacons. The end result is an autonomous agent capable of mapping the building, self-localise in the resulting map and moving from current position to a specified target. It is also capable of path recalculation and minimal real-time collision avoidance while navigating.
Hoje em dia, os robôs estão cada vez mais presentes no nosso quotidiano, fornecendo uma variedade de serviços e realizando as mais diversas tarefas, algumas delas de forma completamente autónoma. Para que o robô execute tarefas autónomas deve estar ciente do ambiente que o rodeia e conhecer a sua posição no mesmo. Para atingir esse objetivo, existem três problemas principais a serem resolvidos: mapeamento, localização e navegação. Durante este trabalho desenvolvemos um robô autónomo de boas-vindas para o Instituto de Engenharia Eletrónica e Informática de Aveiro com a capacidade de receber ordens de um visitante e guiá-lo até ao destino solicitado. No final desta tarefa, o robô retorna autonomamente ao seu local de partida, onde retoma a tarefa de carregamento. Para atingir este objetivo estudámos algoritmos relacionados com os três problemas referidos. Como exemplo, o algoritmo GMapping baseado em laser scans é usado para o processo de Mapeamento e Localização Simultânea, a abordagem adaptativa de localização de Monte Carlo é usada para que o robô que se mova no espaço e o algoritmo A* é aplicado para planeamento de um caminho. Foram feitas diversas melhorias em relação ao uso desses algoritmos, incluindo no ambiente um sistema de localização ativa baseado no uso de beacons ultra-som. O resultado final é um agente autónomo capaz de mapear o edifício, localizarse no mapa resultante e mover-se da posição atual para um destino especificado. Também é capaz de recalcular o caminho e evitar colisões mínimas em tempo real durante a navegação.
Mestrado em Engenharia de Computadores e Telemática

Стилі APA, Harvard, Vancouver, ISO та ін.

35

Poschmann, Peter. "Multi-sensor multi-person tracking on a mobile robot platform." Doctoral thesis, 2017. https://tubaf.qucosa.de/id/qucosa%3A23219.

Повний текст джерела

Анотація:

Service robots need to be aware of persons in their vicinity in order to interact with them. People tracking enables the robot to perceive persons by fusing the information of several sensors. Most robots rely on laser range scanners and RGB cameras for this task. The thesis focuses on the detection and tracking of heads. This allows the robot to establish eye contact, which makes interactions feel more natural. Developing a fast and reliable pose-invariant head detector is challenging. The head detector that is proposed in this thesis works well on frontal heads, but is not fully pose-invariant. This thesis further explores adaptive tracking to keep track of heads that do not face the robot. Finally, head detector and adaptive tracker are combined within a new people tracking framework and experiments show its effectiveness compared to a state-of-the-art system.

Стилі APA, Harvard, Vancouver, ISO та ін.

Дисертації з теми "Mobile Service Robotic"

Оформте джерело за APA, MLA, Chicago, Harvard та іншими стилями