260 resultados para Robots industrials
Resumo:
This work presents an analysis of the assessment tools used by professors at the Universitat Politécnica de Catalunya to assess the generic competencies introduced in the Bachelor’s Degrees in Engineering. In order to conduct this study, a survey was designed and administered anonymously to a sample of the professors most receptive to educational innovation at their own university. All total, 80 professors responded to this survey, of whom 26% turned out to be members of the university’s own evaluation innovation group (https://www.upc.edu/rima/grups/grapa), GRAPA. This percentage represents 47% of the total GRAPA membership, meaning that nearly half of the professors most concerned about evaluation at the university chose to participate. The analysis of the variables carried out using the statistical program SPSS v19 shows that for practically 49% of those surveyed, rubrics are the tools most commonly used to assess generic competencies integrated in more specific ones. Of those surveyed, 60% use them either frequently or always. The most frequently evaluated generic competencies were teamwork (28%), problem solving (26%), effective oral and written communication (24%) and autonomous learning (13%), all of which constitute commonly recognized competencies in the engineering profession. A two-dimensional crosstabs analysis with SPSS v19 shows a significant correlation (Asymp. Sig. 0.001) between the type of tool used and the competencies assessed. However, no significant correlation was found between the type of assessment tool used and the type of subject, type of evaluation (formative or summative), frequency of feedback given to the students or the degree of student satisfaction, and thus none of these variables can be considered to have an influence on the kind of assessment tool used. In addition, the results also indicate that there are no significant differences between the instructors belonging to GRAPA and the rest of those surveyed
Resumo:
El museu de Terrassa acull elements del patrimoni que expliquen la història i evolució de la ciutat més enllà dels elements modernistes o industrials. El museu disposa de cinc seus ubicats arreu de la ciutat. Les cinc seus del museu són de diferents èpoques i amb continguts diversos. L’objectiu d’aquest treball és analitzar aquests elements com a un sol producte ja que, a priori, sembla un conjunt poc estructurat on cada secció funciona per separat
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Aquest projecte s'ha desenvolupat dins de l'àrea de visió per computadors, mitjançant el reconeixement d'un patró podem definir tres eixos que conformen un espai tridimensional on hem implementat un videojoc de combats entre robots a sobre d'un entorn real.
Resumo:
This paper proposes a pose-based algorithm to solve the full SLAM problem for an autonomous underwater vehicle (AUV), navigating in an unknown and possibly unstructured environment. The technique incorporate probabilistic scan matching with range scans gathered from a mechanical scanning imaging sonar (MSIS) and the robot dead-reckoning displacements estimated from a Doppler velocity log (DVL) and a motion reference unit (MRU). The proposed method utilizes two extended Kalman filters (EKF). The first, estimates the local path travelled by the robot while grabbing the scan as well as its uncertainty and provides position estimates for correcting the distortions that the vehicle motion produces in the acoustic images. The second is an augment state EKF that estimates and keeps the registered scans poses. The raw data from the sensors are processed and fused in-line. No priory structural information or initial pose are considered. The algorithm has been tested on an AUV guided along a 600 m path within a marina environment, showing the viability of the proposed approach
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Behavior-based navigation of autonomous vehicles requires the recognition of the navigable areas and the potential obstacles. In this paper we describe a model-based objects recognition system which is part of an image interpretation system intended to assist the navigation of autonomous vehicles that operate in industrial environments. The recognition system integrates color, shape and texture information together with the location of the vanishing point. The recognition process starts from some prior scene knowledge, that is, a generic model of the expected scene and the potential objects. The recognition system constitutes an approach where different low-level vision techniques extract a multitude of image descriptors which are then analyzed using a rule-based reasoning system to interpret the image content. This system has been implemented using a rule-based cooperative expert system
Resumo:
We describe a model-based objects recognition system which is part of an image interpretation system intended to assist autonomous vehicles navigation. The system is intended to operate in man-made environments. Behavior-based navigation of autonomous vehicles involves the recognition of navigable areas and the potential obstacles. The recognition system integrates color, shape and texture information together with the location of the vanishing point. The recognition process starts from some prior scene knowledge, that is, a generic model of the expected scene and the potential objects. The recognition system constitutes an approach where different low-level vision techniques extract a multitude of image descriptors which are then analyzed using a rule-based reasoning system to interpret the image content. This system has been implemented using CEES, the C++ embedded expert system shell developed in the Systems Engineering and Automatic Control Laboratory (University of Girona) as a specific rule-based problem solving tool. It has been especially conceived for supporting cooperative expert systems, and uses the object oriented programming paradigm
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This paper presents a novel technique to align partial 3D reconstructions of the seabed acquired by a stereo camera mounted on an autonomous underwater vehicle. Vehicle localization and seabed mapping is performed simultaneously by means of an Extended Kalman Filter. Passive landmarks are detected on the images and characterized considering 2D and 3D features. Landmarks are re-observed while the robot is navigating and data association becomes easier but robust. Once the survey is completed, vehicle trajectory is smoothed by a Rauch-Tung-Striebel filter obtaining an even better alignment of the 3D views and yet a large-scale acquisition of the seabed
Resumo:
A visual SLAM system has been implemented and optimised for real-time deployment on an AUV equipped with calibrated stereo cameras. The system incorporates a novel approach to landmark description in which landmarks are local sub maps that consist of a cloud of 3D points and their associated SIFT/SURF descriptors. Landmarks are also sparsely distributed which simplifies and accelerates data association and map updates. In addition to landmark-based localisation the system utilises visual odometry to estimate the pose of the vehicle in 6 degrees of freedom by identifying temporal matches between consecutive local sub maps and computing the motion. Both the extended Kalman filter and unscented Kalman filter have been considered for filtering the observations. The output of the filter is also smoothed using the Rauch-Tung-Striebel (RTS) method to obtain a better alignment of the sequence of local sub maps and to deliver a large-scale 3D acquisition of the surveyed area. Synthetic experiments have been performed using a simulation environment in which ray tracing is used to generate synthetic images for the stereo system
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Coverage Path Planning (CPP) is the task of determining a path that passes over all points of an area or volume of interest while avoiding obstacles. This task is integral to many robotic applications, such as vacuum cleaning robots, painter robots, autonomous underwater vehicles creating image mosaics, demining robots, lawn mowers, automated harvesters, window cleaners and inspection of complex structures, just to name a few. A considerable body of research has addressed the CPP problem. However, no updated surveys on CPP reflecting recent advances in the field have been presented in the past ten years. In this paper, we present a review of the most successful CPP methods, focusing on the achievements made in the past decade. Furthermore, we discuss reported field applications of the described CPP methods. This work aims to become a starting point for researchers who are initiating their endeavors in CPP. Likewise, this work aims to present a comprehensive review of the recent breakthroughs in the field, providing links to the most interesting and successful works
Resumo:
La mort sempre ha estat present en tot individu i societat, tot i els grans avenços de les tecnologies i és per la persona un tema de profunda reflexió, tant des de la perspectiva filosòfica com religiosa i la més actual, la científica. No obstant, en les societats industrials avançades cada vegada és més difícil acceptar la simple idea de mort. L’arribada de la vellesa posa a la persona davant de nombrosos canvis i pèrdues que repercuteixen la seva qualitat de vida, la seva estabilitat emocional i porta en sí mateix la consciència de saber que la mort es troba cada vegada més a prop, generant principalment temors i pors. És per això que cal destacar la importància del tema per la infermera que treballa amb gent granObjectiu: Conèixer la percepció sobre la mort que tenen les persones grans ingressades en una residència geriàtrica
Resumo:
La idea del proyecto viene del concepto de “fábricas del futuro”, donde las barreras entre robots y humanos se rompen para que la colaboración entre ambos sea como en un equipo. Para la realización de este proyecto se ha utilizado el brazo robótico IRB120 de la marca ABB de 6 Grados de libertad, Matlab y el software Robot Studio. El Objetivo principal de este proyecto es establecer el protocolo de comunicación trabajador-robot mediante imágenes. El trabajador debería poder controlar el robot mediante dibujos realizados en la mesa de trabajo. En el desarrollo de la comunicación trabajador-robot cabe distinguir tres partes: · El análisis y tratamiento de imágenes para el cual se ha utilizado el software Matlab. · Transmisión de los datos desde Matlab al robot. · Programación de las acciones a realizar por el robot mediante el software “Robot Studio”. Con el protocolo de comunicación desarrollado y las imágenes realizadas por el trabajador el robot es capaz de detectar lo siguiente: · la herramienta que debe utilizar (rotulador, boli o ventosa) · si lo que tiene que dibujar en la mesa de trabajo son puntos o trazo continuo. · la localización de los puntos o del trazo continuo en la mesa de trabajo. Se ha alcanzado el objetivo propuesto con éxito, el protocolo de comunicación trabajador-robot mediante imágenes ha sido establecido. Mediante el análisis y tratamiento de imágenes se puede conseguir la información necesaria para que el robot pueda ejecutar las acciones requeridas por el trabajador.
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El Projecte intenta presentar totes les tasques realitzades durant l’estada de pràctiques a l’empresa on es pretenia musealitzar el Molí de Pals, canviant el seu ús industrial per a un nou ús social i turístic. Es pretén donar valor a aquest element patrimonial com un referent en la identitat dels palencs i aconseguir oferir un servei de qualitat al visitant adaptant-se a les necessitats de cada col•lectiu. Es tracten alguns temes com el cultiu de l’arròs i la seva evolució a Pals, els museus industrials i tipus d’equipaments visitables
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Objecte: El present treball reflecteix l'anàlisi econòmica financera de les empreses gaseles de la Catalunya Central. S'han considerat les empreses gaseles per ser les empreses tractores de l'economia d'un territori i per tant ens interessa veure la seva salut empresarial en el període analitzat. L'estudi posiciona aquestes indústries i presenta els principals indicadors econòmics i financers per tal de diagnosticar la salut d'aquestes empreses en el període 2008-2012 mitjançant una anàlisi a curt i llarg termini, una anàlisi de resultats i una anàlisi dels canvis patrimonials i dels fluxos d'efectiu d'aquestes empreses gasela. Disseny/metodologia: Les dades utilitzades provenen dels estats comptables d'aquestes empreses de la base de dades SABI en el període 2008-2012, en concret, es recull una mostra d'empreses industrials de les comarques de la Catalunya Centralque tenen un mínim de 5 treballadors, que tenen un creixement de les vendes en els últims anys d'un 6% i que tenen una rendibilitat econòmica mínima d'un 5% sobre les que es porta a terme l'anàlisi econòmica financera mitjançant l'estadística descriptiva oportuna i una anàlisi de regressions arribant a uns resultats i conclusions. Aportacions i resultats: L'estudi permet assenyalar que les empreses gaseles en aquest període gaudeixen d'una bona salut econòmica i financera, amb un reduït nombre d'empreses que concentren gran part de les vendes. Són empreses amb un creixement equilibrat ja que tenen una gestió eficient dels actius, una gestió financeraprudent (excepte per les empreses de menys número dels treballadors) i una bona gestió de les despeses. Són empreses solvents, amb un endeutament acceptable, però de mala qualitat,i una rendibilitat dels actius amb tendència a l’alça i dels recursos propis més moderada. Limitacions: Seria convenient ampliar la mostra a altres comarques i arribar a dades actuals per confirmar els canvis de tendència en l'anàlisi econòmica i financera. Implicacions pràctiques: Permet valorar la projecció d'aquestes empreses en els últims anys a Catalunya, per prendre les oportunes decisions econòmiques al respecte. Implicacions socials: Els resultats permeten posar de manifest situacions a corregir per part de les empreses per poder seguir ben posicionades. Valor afegit: Per aquestes empreses dóna informacions econòmiques i financeres rellevants de la salut empresarial per assumir els reptes de futur i el manteniment de la seva posició.
Resumo:
Robotic platforms have advanced greatly in terms of their remote sensing capabilities, including obtaining optical information using cameras. Alongside these advances, visual mapping has become a very active research area, which facilitates the mapping of areas inaccessible to humans. This requires the efficient processing of data to increase the final mosaic quality and computational efficiency. In this paper, we propose an efficient image mosaicing algorithm for large area visual mapping in underwater environments using multiple underwater robots. Our method identifies overlapping image pairs in the trajectories carried out by the different robots during the topology estimation process, being this a cornerstone for efficiently mapping large areas of the seafloor. We present comparative results based on challenging real underwater datasets, which simulated multi-robot mapping