Modeling a mobile robot using a grammatical model

Virtual Worlds Generator is a grammatical model that is proposed to define virtual worlds. It integrates the diversity of sensors and interaction devices, multimodality and a virtual simulation system. Its grammar allows the definition and abstraction in symbols strings of the scenes of the virtual world, independently of the hardware that is used to represent the world or to interact with it. A case study is presented to explain how to use the proposed model to formalize a robot navigation system with multimodal perception and a hybrid control scheme of the robot.

A grammatical approach to the modeling of an autonomous robot

Virtual Worlds Generator is a grammatical model that is proposed to define virtual worlds. It integrates the diversity of sensors and interaction devices, multimodality and a virtual simulation system. Its grammar allows the definition and abstraction in symbols strings of the scenes of the virtual world, independently of the hardware that is used to represent the world or to interact with it. A case study is presented to explain how to use the proposed model to formalize a robot navigation system with multimodal perception and a hybrid control scheme of the robot. The result is an instance of the model grammar that implements the robotic system and is independent of the sensing devices used for perception and interaction. As a conclusion the Virtual Worlds Generator adds value in the simulation of virtual worlds since the definition can be done formally and independently of the peculiarities of the supporting devices.

Learning Probabilistic Features for Robotic Navigation Using Laser Sensors

SLAM is a popular task used by robots and autonomous vehicles to build a map of an unknown environment and, at the same time, to determine their location within the map. This paper describes a SLAM-based, probabilistic robotic system able to learn the essential features of different parts of its environment. Some previous SLAM implementations had computational complexities ranging from O(Nlog(N)) to O(N2), where N is the number of map features. Unlike these methods, our approach reduces the computational complexity to O(N) by using a model to fuse the information from the sensors after applying the Bayesian paradigm. Once the training process is completed, the robot identifies and locates those areas that potentially match the sections that have been previously learned. After the training, the robot navigates and extracts a three-dimensional map of the environment using a single laser sensor. Thus, it perceives different sections of its world. In addition, in order to make our system able to be used in a low-cost robot, low-complexity algorithms that can be easily implemented on embedded processors or microcontrollers are used.

Steel Pedestrian Bridge to Protect a Unique Tree

This paper describes the “Variation Guggenheim 3: Mirador de la palmera” project, situated in Daya Vieja (Alicante-Spain). This structure is inspired by the Guggenheim museum of New York and is designed to protect a land-mark palm-tree from wind loads. This six – trunk palm tree was declared monument by the Valencian government in 2012. The structure that now protect it appears to fly around de palm tree creating a helicoidally skywalk made of steel, while retrofitting the lateral trunks of the tree to protect them from collapse. An 18 m. long straight beam starts on the top of this helix, and stretches towards a lookout point that offers a view of the whole village and its surroundings. The reduction of the visual impact of the structure on the tree was a major aim for the project design. The structural elements are as slender as possible to avoid the visual obstruction of tree. They are painted white, while the walkway steel corrugated plate is painted green in order to highlight its neat shape among the blur created by the apparent mess of bars of the supporting structure. The two main piles of this pedestrian bridge were designed in steel and geometrically resemble trees. A Ground Penetrating Radar analysis was performed to detect the palm root location and to decide the best foundation system. Slender cast in-situ steel-concrete micropiles along with a concrete pile-cap, raised some centimeters above the ground level, were used to reduce the damage to the roots. The projected pile-cap is a slender, continuous, circular ring; which geometry resembles a concrete bench. This structure has been a finalist in the Architecture Awards for the 2010-2014 best construction projects, held by the Diputación de Alicante.