Visual feedback control of a robot in an unknown environment (learning control using neural networks)

In this paper, a visual feedback control approach based on neural networks is presented for a robot with a camera installed on its end-effector to trace an object in an unknown environment. First, the one-to-one mapping relations between the image feature domain of the object to the joint angle domain of the robot are derived. Second, a method is proposed to generate a desired trajectory of the robot by measuring the image feature parameters of the object. Third, a multilayer neural network is used for off-line learning of the mapping relations so as to produce on-line the reference inputs for the robot. Fourth, a learning controller based on a multilayer neural network is designed for realizing the visual feedback control of the robot. Last, the effectiveness of the present approach is verified by tracing a curved line using a 6-degrees-of-freedom robot with a CCD camera installed on its end-effector. The present approach does not necessitate the tedious calibration of the CCD camera and the complicated coordinate transformations.

Browsing the modern kitchen - a feast of gender, place and culture (part 1)

Assembling 10 essays from around the globe which engage variously with the space in which food preparation occurs—the kitchen—revealed stunning diversity but also commonalities. In this first of two sets of theme papers on this vital but often unexamined domestic space, the discourse of modernity unites the look and use of twentieth-century kitchens in Australia, Britain and Finland. Imbued with notions of scientific management, the modern kitchen had some common designs which prescribed women's place within it—first as the main occupant and then as the family overseer. The construction of this semi-private space also involved particular domestic technologies which, as the new century dawns, now literally connect the kitchen to the world beyond via the internet fridge. This Introduction begins the two-part feast of gender, place and culture—with an overview of Australia and sketch of subsequent essays—Supski on mid-century migrant Australia, Saarikangas on Finland, Bennett on rural Britain and Watkins on the fridge.

A reinforcement learning approach for robot control in an unknown environment

In this paper, a control approach based on reinforcement learning is present for a robot to complete a dynamic task in an unknown environment. First, a temporal difference-based reinforcement learning algorithm and its evaluation function are used to make the robot learn with its trials and errors as well as experiences. Second, the simulation are carried out to adjust the parameters of the learning algorithm and determine an optimal policy by using the models of a robot. Last, the effectiveness of the present approach is demonstrated by balancing an inverse pendulum in the unknown environment.

Flowchart software for a modular robot

Flowcharting is a common method of setting out the requirements for a piece of code. It is simple with few rules to follow. Rarely however, is it used as the code itself. This paper describes the outline of a software package that uses the flowchart as the code for a small, autonomous, modular robot, designed for use in High Schools and Universities at an introductory level. By using flowcharting the student is introduced to the concept of structured programming. A flowchart is often the first step in programming. Here it is the only step, easing the student into the art of coding, and simplifying the teachers job.

Flowchart and kernel software for modular robot

Flowcharting is a common method of setting out the requirements for a piece of code. It is simple with few rules to follow. Rarely however, s it used as the code itself. This paper describes the outline of a software package that uses the flowchart as the code for a small, autonomous, modular robot, designed for use in High Schools. It also describe the code used by the robot to complement the flowchart software creating a system that can be used by students and their teachers to design, build and program a robot without previous programming experience.

An autonomous trimming system of large glass fiber reinforced plastics parts using an omni-directional mobile robot and its control

This paper describes an automated trimming system of large glass fiber reinforced plastic (GFRP) using an omni-directional wheeled mobile robot (WMR) and its path control method. In trimming GFRP parts, much glass fiber and plastic powder dust occur and it becomes bad visible in environment. It is necessary to correct dead-reckoning errors of the WMR in order to control its moving path. We have discussed an external correction method of the dead-reckoning errors for the WMR using ultrasonic sensor.

Path planning for sensor data collecting mobile robot

A mobile robot employed for data collection is faced with the problem of travelling from an initial location to a final location while maintaining as close a distance as possible to all the sensors at a given time in the journey. Here we employ optimal control ideas in forming the necessary control commands for such a robot resulting not only the necessary acceleration commands for the underlying robot, but also the resulting trajectory. This approach can also be easily extended for the case of producing the optimal trajectory for an ariel vehicle used for data collection from indiscriminately scattered ad-hoc sensors located on the ground. We demonstrate the implementation of our algorithm using a Pioneer 3-AT robot.

Passion in Jamie's kitchen : the vital ingredient in education and training for young workers?

In this paper we will sketch out and briefly analyse a recurring and central theme throughout the reality TV series Jamie’s Kitchen – that of passion:

• Passion for food;
• Being passionate as you construct and present yourself;
• Being passionate about your work;
• Having a go, getting passionate in a training environment which compresses years of training into months of training.

In this series the high profile celebrity chef Jamie Oliver set out to transform a group of unemployed young Londoners into the enterprising, entrepreneurial, ideal worker of 21st century flexible capitalism. This series, and its figure of the entrepreneurial, risk taking, small businessman (who in this instance is also a global celebrity brand) seeking to develop similar dispositions and behaviours in a workforce that initially does not display such character features, illuminates, and provides a means to explore, key features of new work regimes. The emphasis on passion in the analysis – which draws on Foucault’s later work on the care of the self - allows us to connect to discussions about education and training that highlight the passionate/pleasure dimensions of pedagogy. These elements of education and training very rarely get discussed in a vocational education and training environment which is largely driven by modules/competencies/outcomes.

Bilateral haptic teleoperation of an articulated track mobile robot

Teleoperation has been used in many applications, allowing a human operator to remotely control a robotic system in order to perform a particular task. Recently haptic teleoperation has focused mainly on improving performance in remote manipulation tasks, however the haptic approach offers similar advantages for teleoperative control of the motion of a mobile robot. This paper describes a prototype system designed to facilitate haptic teleoperation of an all-terrain, articulated track mobile robot. This system utilizes a multi-modal user interface intended to improve operator immersion, reduce operator overload and improve teleoperative task performance. The system architecture facilitates implementation of an application-specific haptic augmentation algorithm in order to improve operator performance in challenging real-world tasks. The contributions of this work can be categorized as the custom mobile platform, teleoperator interface and haptic augmentation strategy.

'Don't be a smart arse': Young workers, individualization, and an ethic of enterprise in Jamie's Kitchen

In Jamie’s Kitchen the high profile celebrity chef Jamie Oliver set out to transform a group of unemployed young Londoners into the enterprising, ideal worker of 21st century flexible capitalism. The paper will argue that this reality TV series provides a means to explore key features of new work regimes. We will analyse particular aspects of the increasingly powerful individualising and normalising processes shaping the lifeworlds of young workers in a globalising risk society. Processes that require those who wish to be positively identified as entrepreneurial to do particular sorts of work on themselves; or suffer the consequences.
Drawing on Foucault’s later work on the care of the self, and the  individualization theses of the reflexive modernization literature, we identify and analyse the forms of personhood that various institutions, organisations and individuals seek to encourage in young workers; and the ways in which institutionalised risk environments increasingly individualise the risks and uncertainties associated with labour market participation. The paper argues that our understandings of what it means to be a worker of the world, are being rearticulated around the idea that we are free to choose. And we must exercise this freedom – reap its rewards, carry its obligations – as individuals.

Simulating autonomous robot teams with Microsoft robotics studio

This paper presents an application of Microsoft Robotics Studio (MSRS) in which a team of six four wheel drive, ground based robots explore and map simulated terrain. The user has the ability to modify the terrain and assign destination objectives to the team while the simulation is running. The terrain is initially generated using a gray scale image, in which the intensity of each pixel in the image gives an altitude datum. The robots start with no knowledge of their surroundings, and map the terrain as they attempt to reach user-defined target objectives. The mapping process simulates the use of common sensory hardware to determine datum points, including provision for field of view, detection range, and measurement accuracy. If traversal of a mapped area is indicated by the users’ targeting commands, path planning heuristics developed for MSRS by the author in earlier work are used to determine an efficient series of waypoints to reach the objective. Mutability of terrain is also explored- the user is able to modify the terrain without stopping the simulation. This forces the robots to adapt to changing environmental conditions, and permits analysis of the robustness of mapping algorithms used when faced with a changing world.