Progress in Automation, Robotics and Measuring Techniques (eBook)

Foreword 6
Contents 8
About the Editors 11
Forming of Operational Characteristics of an Orthotic Robot by Influencing Parameters of Its Drive Systems 13
1 Introduction 13
2 Model of the Robot 15
3 Simulation Study of the Robot Actuators 16
4 Application of a Gear with a Controlled Ratio 18
5 Summary 20
References 20
Lightweight RGB-D SLAM System for Searchand Rescue Robots 22
1 Introduction 22
2 Pose-BasedRGB-DSLAM 24
3 Experimental Evaluation 25
3.1 Publicly Available Data Sets 25
3.2 Outdoor Experiments with Asus Xtion 27
3.3 Outdoor Experiment with the Kinect ver. 2 29
4 Conclusions 30
References 31
Affordable Multi-legged Robots for Research and STEM Education: A Case Study of Design and Technological Aspects 33
1 Introduction 33
2 Related Work 34
3 The PUT Hexapod Robots Family 35
3.1 Design Motivations and Structure 35
3.2 Technology 37
3.3 Control System 38
4 The RMIT Walking Robots Family 39
4.1 Design Motivations and Structure 39
4.2 Technology 41
4.3 Control System 42
5 Conclusions 43
References 44
Falcon: A Compact Multirotor Flying Platform with High Load Capability 45
1 Introduction 45
2 Related Work 46
3 Platform Features 46
3.1 Hardware Design 46
3.2 Propulsion System 47
3.3 On-Board Avionics 49
3.4 Control System 50
4 Platform Evaluation 51
4.1 Stabilization Algorithms Tuning 51
4.2 Indoor and Outdoor Flight Evaluation 52
4.3 ESA’s StarTiger Project 52
4.4 Manipulation System 53
5 Conclusions 54
References 54
TAPAS: A Robotic Platform for Autonomous Navigation in Outdoor Environments 55
1 Introduction 55
2 Related Work 56
3 System Design 57
3.1 Platform Features 57
3.2 The Control System 58
3.3 Drive System 59
4 The Sensors Mounted on the Platform 60
4.1 Sensors Used in Position Estimation 60
4.2 Sensors Used in Obstacle Detection and Terrain Classification 61
4.3 Sensory System Calibration 62
5 Experimental Evaluation 63
6 Conclusions 63
References 64
NAO-mark vs QR-code Recognition by NAO Robot Vision 65
1 Introduction 65
2 Code Recognition by NAO Robot Vision 66
2.1 NAO Mark Detection 66
2.2 QR Code Detection 67
3 Localization Results 68
3.1 The Test Environment 68
3.2 Measurement Methodology 69
3.3 Results 69
4 Summary 74
References 74
Hive Collective Intelligence for Cloud Robotics: A Hybrid Distributed Robotic Controller Design for Learning and Adaptation 75
1 Introduction 75
2 Related Research 77
2.1 Cloud Robotics 77
2.2 Neuro-Robotics 77
2.3 Swarm Intelligence 78
3 The Hive 78
3.1 Input Preprocessing 79
3.2 Neural Architecture 79
3.3 Encoding and Input Types 81
3.4 Output Decision System 82
4 Hive Training and Learning 83
4.1 Information and Knowledge Management 83
4.2 Robot – User Interaction 83
4.3 Training Procedures 84
5 Work in Progre ess 85
6 Conclusions 85
References 86
The Autonomous Return Control System for Mobile Platform, Used in CBRN Hazards 89
1 Introduction 89
2 State of the Art 91
3 System Architecture 91
4 Equipment 92
5 Navigation Module 93
5.1 Sensors 93
5.2 Operation Principl e 94
6 Conclusions 95
References 95
Navigation Module for Mobile Robot 96
1 Introduction 96
2 System Requirements 96
3 Hardware 97
3.1 Platform 97
3.2 Sensors 97
4 Software 98
4.1 Data Fusion 98
4.2 Algorithm 99
5 Results 100
6 Conclusions 101
References 101
An Efficient PSO-Based Method for an Identification of a Quadrotor Model Parameters 103
1 Introduction 103
2 TheQuadrotorModel 104
3 TheExperiment 107
4 The Results and Conclusions 108
5 Summary 111
References 112
User Needs and Requirements for the Mobility Assistance and Activity Monitoring Scenario within the RAPP Project 113
1 Introduction 113
2 Ethical Issues 114
2.1 Ethics Committee 115
2.2 Ethical Issues at RAPP 115
3 The ANG-med Robot 116
4 Actors and rs User 118
5 User Needs and Requirements 119
6 Functionalities and Pilot Scenarios Definition 120
6.1 Localization 121
6.2 User Identification and Personalization 122
6.3 Activity Monitoring 122
6.4 Robotic Services 122
6.5 Communication/Interaction 123
7 Conclusions 124
References 124
Safety Module Based on Gyroscopie in the System for Verticalization and Aiding Motion of the Disabled 126
1 Introduction 126
2 System for Verticalization and Aiding Motion (SVAM) 126
3 Identification of Risks for SVAM 128
4 The Method Accepted for Realization of the Basic Function of the Safety Module 130
5 Results of Modeling and Simulation 132
6 Summary and Conclusions 134
References 134
Gait Trajectory Planing for CIE Exoskeleton 136
1 Introduction 136
2 Exoskeleton Design 137
3 A Novel Gait Trajectory Pattern 140
4 Planar Trajectory Planing 141
5 Conclusions and Future Work 143
References 144
Specification of Abstract Robot Skills in Terms of Control System Behaviours 145
1 Introduction 145
2 Embodied Agent 146
2.1 Agent Structure 146
2.2 Subsystem Behaviour 147
2.3 Agent Skill 148
3 Example: Agent Controlling a Single Manipulator 149
3.1 Virtual Effector 149
3.2 Virtual Effector 150
4 Control Subsystem 153
4.1 Behaviour cBIRp6,1 153
4.2 Behaviour cBIRp6,2 154
4.3 Behaviour cBIRp6,3 154
4.4 The Cube Grasping Skill 155
5 Conclusions 156
References 157
Construction and Signal Filtering in Quadrotor 159
1 Introduction 159
2 The Method of Control of Quadrotor 160
3 Construction of the Vehicle 161
4 Filtering the Signal by the FIR Filter 163
5 The Kalman Filter 166
6 Conclusion 167
References 167
Adaptive Optical Inspection System with Use of Reconfigurable Manipulator 168
1 Introduction 168
2 Manipulator Vis sual Feedback Control Loop 169
3 Pneumatic Gripper Module 171
4 Inspection Algor rithm 172
5 Conclusion 173
References 174
Assistive Robots as Future Caregivers: The RAPP Approach 176
1 Socially Assistive Robotics in an Ageing Europe 176
2 The RAPP Approach 180
2.1 RAPP’s Social Objectives 181
3 The RAPP Robots and Scenarios 182
3.1 Pilot Cases – Inclusion RAPPs 182
4 Conclusions 183
References 183
Simulation-Based Evaluation of Robot-AssistedWireless Sensors Positioning 185
1 Introduction 185
2 Problem Description 186
3 Deployment Strategies 187
4 PerformanceMetrics 189
5 Case Study Results 189
6 Summary and Conclusions 193
References 193
Small Remotely Operated Screw-Propelled Vehicle 195
1 Introduction 195
1.1 Basics of Screw-Propelled Vehicles 195
1.2 Principle of Operation 196
2 Design of the Screw-Propelled Vehicle 198
2.1 Design Assumptions and Requirements 198
2.2 Details of the Vehicle 199
3 Simulation Model of the Screw-Propelled Vehicle 201
3.1 Implementation in Matlab-SIMULINK Environment 201
3.2 Exemplary Results of the Performed Simulations 201
4 Conclusion 203
References 203
HMI with Vision System to Control Manipulator by Operator Hand Movement 205
1 Introduction 205
2 Mathematical Background of Image Processing 206
3 The Experimental Stand 209
4 Experimental Results 210
5 Conclusion 212
References 212
A Comparison of Control Strategies for 4DoFModel of Unmanned Bicycle Robot Stabilisedby Inertial Wheel 214
1 Introduction 214
2 Continuous-Time 4DOF Model of the Plant, Solution Procedure to the Nonlinear Difference Equations 215
3 Discrete-Time Model of the Plant 217
4 Proposed Control Strategies 217
4.1 Preliminaries 217
4.2 Classical LQR Control 217
4.3 LQI Control 218
4.4 Time-Varying State-Feedback Controller 218
5 Proposed Comparison Methodology 220
6 Results 222
7 Conclusions 223
References 223
Integration of Qualitative and Quantitative Spatial Data within a Semantic Map for Service Robots 225
1 Introduction 225
2 Ontology 226
3 Components Using Semantic Map 229
3.1 Semantic Map Server 229
3.2 Spatial Reasoner 229
3.3 Action Planner 230
3.4 User Interface 231
3.5 Semantic Localization 231
3.6 Heuros - 3D Perception System 232
4 Discussion and Related Work 233
References 233
Social Inclusion with Robots: A RAPP Case Study Using NAO for Technology Illiterate Elderly at Ormylia Foundation 235
1 Introduction 235
2 Technology Illiterate People 236
2.1 Robots Versus Computers 237
2.2 The Group of Technology Illiterate Elderly at Ormylia Foundation 238
2.3 Meeting with NAO and Future Plans 240
3 Conclusion 241
References 242
On the Application of QR Codes for Robust Self-localization of Mobile Robots in VariousApplication Scenarios 244
1 Introduction 244
2 Related Work 245
3 Self-Localization Methods 247
3.1 Landmarks 247
3.2 Vision Systems Configurations 247
3.3 Recognition and Localization of Landmarks 248
4 Experimental Results 250
4.1 Top-View 250
4.2 First Person Perspective 250
5 Conclusions 252
References 252
Reconfigurable Agent Architecture for Robots Utilising Cloud Computing 254
1 Introduction 254
2 Agents 256
3 System Structure 258
3.1 A Three Agent System 258
3.2 A Four Agent System 259
4 Implementation 259
4.1 HOP 260
4.2 ROS 261
4.3 Rosbridge 262
5 Conclusions 263
References 263
Kinematic Interactions Between Orthotic Robot and a Human 266
1 Human Gait 266
2 Human Leg as an Object to be Articulated 266
3 Kinematics of a Human and an Orthotic Robot 267
4 The SVAM Mechanical Structure 268
5 Technical Model and Dummy Tests 270
6 Simulations of Kinematics Misalignment 271
7 Conclusions 274
References 274
Merging Robotics and AAL Ontologies: The RAPP Methodology 286
1 Introduction 286
2 Application of Companion Robots to Social inclusion 287
3 State of the Art 289
3.1 Robotic Ontologies 289
3.2 AAL / ICT Ontologies 289
4 Ontology Design 290
4.1 KnowRob 291
4.2 OpenAAL 292
5 RAPP Ontology Employment 293
5.1 Setup 293
5.2 Access 294
5.3 Utilization 295
5.4 Conclusions 297
References 297
In-Motion Balance Recovery of a Humanoid Robot under Severe External Disturbances 299
1 Introduction 299
2 Sensors Data and State Estimation 300
2.1 The Robot and its IMU 300
2.2 The Robot Configuration and COM Position Estimation 301
2.3 The Tilting Platform Inclination Estimation 301
2.4 Kinect Skeletal Tracking 302
3 The Robot Control 303
3.1 Stability on the Flat Ground 303
3.2 Stability on the Tilting Platform 304
3.3 Tracking Human Motion Data on a Tilting Platform 304
4 Experiment 305
4.1 Flexibility and Backlash Measurement 305
4.2 Inclination Estimation 305
4.3 Stabilization and Human Motion Tracking 305
5 Conclusion 307
References 307
Exploring OpenStreetMap Publicly Available Information for Autonomous Robot Navigation 309
1 Introduction 309
2 Related Work 310
3 Localization of TAPAS Platform 311
4 Utilizing OpenStreetMap Information in Global Planning 313
5 Local Planner 315
6 Experimental Evaluation 316
6.1 Evaluation in the Malta Park in Pozna´n 316
6.2 Evaluation at the Robotour 2014 317
7 Conclusions 318
References 318
Two Mode Impedance Control of Velma Service Robot Redundant Arm 319
1 Introduction 319
2 Control System 320
2.1 Behavior eBj 321
2.2 Behavior eBe 322
3 Verification 324
3.1 Experimental System 324
3.2 Experiments 324
4 Conclusions 327
References 328
The Social Construction of Creativity in Educational Robotics 329
1 Introduction 329
2 Education 330
3 Creativity 331
4 Anthropomorphism 332
5 Mismatch 333
6 The Social 334
7 Conclusions 335
References 336
Author Index 339