Contact processing within walking robots' design

Magdeburg, Univ., Fak. für Elektrotechnik und Informationstechnik, Diss., 2011

Generic object classification for autonomous robots

Un dels principals problemes de la interacció dels robots autònoms és el coneixement de l'escena. El reconeixement és fonamental per a solucionar aquest problema i permetre als robots interactuar en un escenari no controlat. En aquest document presentem una aplicació pràctica de la captura d'objectes, de la normalització i de la classificació de senyals triangulars i circulars. El sistema s'introdueix en el robot Aibo de Sony per a millorar-ne la interacció. La metodologia presentada s'ha comprobat en simulacions i problemes de categorització reals, com ara la classificació de senyals de trànsit, amb resultats molt prometedors.

Modelo de un grupo de robots colaboradores cazadores

El nombre d'aplicacions dels microrobots en biomedicina creix a mesura que el seu desenvolupament avança. Entre elles hi ha les consistents a examinar cèl·lules amb microrobots cooperants. En aquest treball es presenta un prototip a escala d'aquest problema, convenientment simplificat: dos robots tracten d'agafar una pilota que representa la cèl·lula que s'examina. Com a resultat, s'ha obtingut un algorisme deliberatiu per a la resolució d'aquest problema amb robots homogenis.

Estudi de comportaments socials amb eixams de robots reconfigurables

Els eixams de robots distribuïts representen tot un món de possibilitats al camp de la microrobòtica, però existeixen pocs estudis que n'analitzin els comportaments socials i les interaccions entre robots autònoms distribuïts. Aquests comportaments han de permetre assolir de la manera més efectiva possible un bon resultat. Prenent com a base l'objectiu esmentat, aquest treball detalla diferents polítiques de cerca i de reconfiguració dels robots i estudia els seus comportaments per tal de determinar quins d'ells són més útils per solucionar un problema concret amb les plagues d'erugues i corcs als camps de cigroneres.

Implementación de movimientos suaves en robots industriales mediante splines cúbicos: aplicación a un laboratorio remoto de robótica

La solución a los problemas de disponibilidad horaria para la realización de sesiones prácticas por parte de los estudiantes se encuentra en los laboratorios remotos, que permiten a estos interactuar con los elementos instalados en los laboratorios sin necesidad de estar presentes físicamente. Este proyecto pretende crear un laboratorio remoto para la asignatura “Robótica y Automatización Industrial” impartida en la ETSE, UAB, en el cual los estudiantes puedan ejecutar trayectorias de tipo spline cúbico en un brazo robot y observar a través de vídeo en tiempo real los movimientos del robot desde cualquier lugar con conexión a Internet.

A distributed environment for virtual and/or real experiments for underwater robots

This paper presents the distributed environment for virtual and/or real experiments for underwater robots (DEVRE). This environment is composed of a set of processes running on a local area network composed of three sites: 1) the onboard AUV computer; 2) a surface computer used as human-machine interface (HMI); and 3) a computer used for simulating the vehicle dynamics and representing the virtual world. The HMI can be transparently linked to the real sensors and actuators dealing with a real mission. It can also be linked with virtual sensors and virtual actuators, dealing with a virtual mission. The aim of DEVRE is to assist engineers during the software development and testing in the lab prior to real experiments

Planejamento por cenários: preparando pequenas empresas do varejo de móveis planejados para um futuro competitivo

Neste trabalho, propõe-se um modelo de construção de cenários para atender pequenas empresas do setor de móveis planejados, podendo, ainda, após sua validação, ser aplicado a outras empresas, observadas as suas limitações. O modelo proposto foi construído a partir das ideias e teorias existentes acerca da construção de cenários como ferramentas para a formulação de estratégias empresariais. Para sua validação, o modelo foi aplicado a uma pequena empresa do setor, na qual foi realizada pesquisa qualitativa e foram utilizados os instrumentos metodológicos de pesquisa documental e brainstorming, tendo participado sete profissionais da área. Na filtragem dos dados, utilizou-se modelo apresentando as seguintes variáveis: Macroambiente Clima (inflação, incentivos financeiros, crises mundiais e legislação); Solo (aumento da renda e da classe C, mudanças nos hábitos e trabalho feminino); Ambiente Operacional (concorrência, tendências, fornecedores, evolução tecnológica); e Ambiente Interno (valores e aspirações pessoais, qualificação profissional). Com base nas variáveis, elaboraram-se dois cenários para um universo de tempo até meados de 2018: um positivo, pressupondo alterações favoráveis para a alavancagem das vendas, crescimento físico e financeiro da organização; e um negativo, sendo desfavorável para a continuidade e o crescimento da organização, o que implica limitação de ações em função das restrições do mercado. E, finalmente, sobre cada cenário foram elaboradas sugestões de estratégias a serem adotadas pela empresa. O uso do modelo constatou a sua confiabilidade pelos resultados apresentados, bem como sua aplicabilidade, mostrando ser viável a sua proposta.

The evolution of information suppression in communicating robots with conflicting interests.

Reliable information is a crucial factor influencing decision-making and, thus, fitness in all animals. A common source of information comes from inadvertent cues produced by the behavior of conspecifics. Here we use a system of experimental evolution with robots foraging in an arena containing a food source to study how communication strategies can evolve to regulate information provided by such cues. The robots could produce information by emitting blue light, which the other robots could perceive with their cameras. Over the first few generations, the robots quickly evolved to successfully locate the food, while emitting light randomly. This behavior resulted in a high intensity of light near food, which provided social information allowing other robots to more rapidly find the food. Because robots were competing for food, they were quickly selected to conceal this information. However, they never completely ceased to produce information. Detailed analyses revealed that this somewhat surprising result was due to the strength of selection on suppressing information declining concomitantly with the reduction in information content. Accordingly, a stable equilibrium with low information and considerable variation in communicative behaviors was attained by mutation selection. Because a similar coevolutionary process should be common in natural systems, this may explain why communicative strategies are so variable in many animal species.

Relatedness influences signal reliability in evolving robots.

Communication is an indispensable component of animal societies, yet many open questions remain regarding the factors affecting the evolution and reliability of signalling systems. A potentially important factor is the level of genetic relatedness between signallers and receivers. To quantitatively explore the role of relatedness in the evolution of reliable signals, we conducted artificial evolution over 500 generations in a system of foraging robots that can emit and perceive light signals. By devising a quantitative measure of signal reliability, and comparing independently evolving populations differing in within-group relatedness, we show a strong positive correlation between relatedness and reliability. Unrelated robots produced unreliable signals, whereas highly related robots produced signals that reliably indicated the location of the food source and thereby increased performance. Comparisons across populations also revealed that the frequency for signal production-which is often used as a proxy of signal reliability in empirical studies on animal communication-is a poor predictor of signal reliability and, accordingly, is not consistently correlated with group performance. This has important implications for our understanding of signal evolution and the empirical tools that are used to investigate communication.

Using robots to understand social behaviour.

A major challenge in studying social behaviour stems from the need to disentangle the behaviour of each individual from the resulting collective. One way to overcome this problem is to construct a model of the behaviour of an individual, and observe whether combining many such individuals leads to the predicted outcome. This can be achieved by using robots. In this review we discuss the strengths and weaknesses of such an approach for studies of social behaviour. We find that robots-whether studied in groups of simulated or physical robots, or used to infiltrate and manipulate groups of living organisms-have important advantages over conventional individual-based models and have contributed greatly to the study of social behaviour. In particular, robots have increased our understanding of self-organization and the evolution of cooperative behaviour and communication. However, the resulting findings have not had the desired impact on the biological community. We suggest reasons for why this may be the case, and how the benefits of using robots can be maximized in future research on social behaviour.

Historical contingency affects signaling strategies and competitive abilities in evolving populations of simulated robots.

One of the key innovations during the evolution of life on earth has been the emergence of efficient communication systems, yet little is known about the causes and consequences of the great diversity within and between species. By conducting experimental evolution in 20 independently evolving populations of cooperatively foraging simulated robots, we found that historical contingency in the occurrence order of novel phenotypic traits resulted in the emergence of two distinct communication strategies. The more complex foraging strategy was less efficient than the simpler strategy. However, when the 20 populations were placed in competition with each other, the populations with the more complex strategy outperformed the populations with the less complex strategy. These results demonstrate a tradeoff between communication efficiency and robustness and suggest that stochastic events have important effects on signal evolution and the outcome of competition between distinct populations.

Prototipação e usabilidade em interfaces para aplicações móveis

Como já é de conhecimento de todos as tecnologias móveis permitem aceder à informação em qualquer lugar e em qualquer altura. Por isso, essas tecnologias móveis podem facilitar o dia-a-dia dos utilizadores, e tornar mais eficiente e eficaz a prestação de serviços. Os profissionais da universidade necessitam de partilhar e aceder à informação adequada para auxiliar nos serviços frequentes do dia-a-dia. Assim a existência de uma interface que interage e disponibilize as diversas informações pode trazer grandes benefícios. Analisando ainda dentro desse contexto existe actualmente alguma falha no sector académico, visto que ainda existe dificuldades em aceder à informação a quem dela necessita, antes pelo contrário, originando atrasos nos afazeres do dia-a-dia. Em muitos casos a introdução de tecnologias pode evitar a ocorrência de problemas. No entanto os profissionais têm de estar preparados para a evolução dos actuais processos nos serviços académicos. Desenvolver um protótipo para aplicações móveis nesta área constitui um desafio, pois não basta somente conhecer os processos realizados pelos potenciais utilizadores, sendo igualmente necessário assegurar que funcionam do mesmo modo quando são executados através de um equipamento com características muito próprias, como os dispositivos de computação móvel.

Learning and adaptation in physical heterogeneous teams of robots

In this paper we present a novel approach to assigning roles to robots in a team of physical heterogeneous robots. Its members compete for these roles and get rewards for them. The rewards are used to determine each agent’s preferences and which agents are better adapted to the environment. These aspects are included in the decision making process. Agent interactions are modelled using the concept of an ecosystem in which each robot is a species, resulting in emergent behaviour of the whole set of agents. One of the most important features of this approach is its high adaptability. Unlike some other learning techniques, this approach does not need to start a whole exploitation process when the environment changes. All this is exemplified by means of experiments run on a simulator. In addition, the algorithm developed was applied as applied to several teams of robots in order to analyse the impact of heterogeneity in these systems