A ROS-based Workspace Control and Trajectory Planner for a seven degrees of freedom Robotic arm

In this Bachelor Thesis I want to provide readers with tools and scripts for the control of a 7DOF manipulator, backed up by some theory of Robotics and Computer Science, in order to better contextualize the work done. In practice, we will see most common software, and developing environments, used to cope with our task: these include ROS, along with visual simulation by VREP and RVIZ, and an almost "stand-alone" ROS extension called MoveIt!, a very complete programming interface for trajectory planning and obstacle avoidance. As we will better appreciate and understand in the introduction chapter, the capability of detecting collision objects through a camera sensor, and re-plan to the desired end-effector pose, are not enough. In fact, this work is implemented in a more complex system, where recognition of particular objects is needed. Through a package of ROS and customized scripts, a detailed procedure will be provided on how to distinguish a particular object, retrieve its reference frame with respect to a known one, and then allow navigation to that target. Together with technical details, the aim is also to report working scripts and a specific appendix (A) you can refer to, if desiring to put things together.

The smart skies project : enabling technologies for future airspace environments

This paper summarises the achievements of the Smart Skies Project, a three-year, multi-award winning international project that researched, developed and extensively flight tested four enabling aviation technologies: an electrooptical mid-air collision avoidance system, a static obstacle avoidance system, a mobile ground-based air traffic surveillance system, and a global automated airspace separation management system. The project included the development of manned and unmanned flight test aircraft, which were used to characterise the performance of the prototype systems for a range of realistic scenarios under a variety of environmental conditions. In addition to the collection of invaluable flight data, the project achieved world-firsts in the demonstration of future automated collision avoidance and separation management concepts. This paper summarises these outcomes, the overall objectives of the project, the research and the development of the prototype systems, the engineering of the flight test systems, and the results obtained from flight-testing.

Manipulator trajectory planning using a MOEA

Generating manipulator trajectories considering multiple objectives and obstacle avoidance is a non-trivial optimization problem. In this paper a multi-objective genetic algorithm based technique is proposed to address this problem. Multiple criteria are optimized considering up to five simultaneous objectives. Simulation results are presented for robots with two and three degrees of freedom, considering two and five objectives optimization. A subsequent analysis of the spread and solutions distribution along the converged non-dominated Pareto front is carried out, in terms of the achieved diversity.

Implementazione di un algoritmo di navigazione autonoma di alto livello e sviluppo software di una Control Ground Station

Caratteristiche hardware di un rover terrestre (progetto SHERPA). Implementazione tramite il framework ROS di un algoritmo di alto livello di navigazione autonoma basato su due possibili algoritmi di basso livello: LOS (Lightweight Object Streaming developed by BlueBotics) o Navigation Stack. Sviluppo di una Control Ground Station (Java) basata su: protocollo SSH2 oppure sfruttando la libreria LOS.

Intelligent computing and sensing for active safety on construction sites

On obstacle-cluttered construction sites where heavy equipment is in use, safety issues are of major concern. The main objective of this paper is to develop a framework with algorithms for obstacle avoidance and path planning based on real-time three-dimensional job site models to improve safety during equipment operation. These algorithms have the potential to prevent collisions between heavy equipment vehicles and other on-site objects. In this study, algorithms were developed for image data acquisition, real-time 3D spatial modeling, obstacle avoidance, and shortest path finding and were all integrated to construct a comprehensive collision-free path. Preliminary research results show that the proposed approach is feasible and has the potential to be used as an active safety feature for heavy equipment.

See-and-avoid quadcopter using fuzzy control optimized by cross-entropy

In this work we present an optimized fuzzy visual servoing system for obstacle avoidance using an unmanned aerial vehicle. The cross-entropy theory is used to optimise the gains of our controllers. The optimization process was made using the ROS-Gazebo 3D simulation with purposeful extensions developed for our experiments. Visual servoing is achieved through an image processing front-end that uses the Camshift algorithm to detect and track objects in the scene. Experimental flight trials using a small quadrotor were performed to validate the parameters estimated from simulation. The integration of cross- entropy methods is a straightforward way to estimate optimal gains achieving excellent results when tested in real flights.

Atmospheric pressure gas plasma-induced colorectal cancer cell death is mediated by Nox2-ASK1 apoptosis pathways and oxidative stress is mitigated by Srx-Nrf2 anti-oxidant system

Atmospheric pressure gas plasma (AGP) generates reactive oxygen species (ROS) that induce apoptosis in cultured cancer cells. The majority of cancer cells develop a ROS-scavenging anti-oxidant system regulated by Nrf2, which confers resistance to ROS-mediated cancer cell death. Generation of ROS is involved in the AGP-induced cancer cell death of several colorectal cancer cells (Caco2, HCT116 and SW480) by activation of ASK1-mediated apoptosis signaling pathway without affecting control cells (human colonic sub-epithelial myofibroblasts; CO18, human fetal lung fibroblast; MRC5 and fetal human colon; FHC). However, the identity of an oxidase participating in AGP-induced cancer cell death is unknown. Here, we report that AGP up-regulates the expression of Nox2 (NADPH oxidase) to produce ROS. RNA interference designed to target Nox2 effectively inhibits the AGP-induced ROS production and cancer cell death. In some cases both colorectal cancer HT29 and control cells showed resistance to AGP treatment. Compared to AGP-sensitive Caco2 cells, HT29 cells show a higher basal level of the anti-oxidant system transcriptional regulator Nrf2 and its target protein sulfiredoxin (Srx) which are involved in cellular redox homeostasis. Silencing of both Nrf2 and Srx sensitized HT29 cells, leads to ROS overproduction and decreased cell viability. This indicates that in HT29 cells, Nrf2/Srx axis is a protective factor against AGP-induced oxidative stress. The inhibition of Nrf2/Srx signaling should be considered as a central target in drug-resistant colorectal cancer treatments.

空间机械臂在线实时避障路径规划研究

针对目前空间机械臂避障路径规划算法计算量大难以达到在线实时规划的缺点,对空间机械臂的在线实时避障路径规划问题进行了研究和探讨.采用规则体的包络对障碍物进行建模,并借助C空间法的思想,把障碍物和机械臂映射到两个相互垂直的平面内,将机械臂工作空间的三维问题转化为二维问题,并结合二岔树逆向寻优的方法进行路径搜索,从而大大减少了计算量,达到了在线实时规划的要求.最后在空间机器人仿真系统上对其进行了仿真研究,验证了该方法的可行性.

冗余自由度机械手的避障控制

避障碍物一直是冗余自由度机械手的主要应用 ,本文采用伪逆矩阵法 ,以障碍物和机械手之间的距离的函数作为性能指标函数来解冗余自由度机械手逆解 ,进行避障控制 ,并提出一种简单的计算机械手和障碍物之间的距离方法 ,通过对一个三自由度的平面机械手进行仿真 ,验证了算法的正确性

仿象鼻并串联机构回避障碍“钻洞”的研究

研究了一种高冗余自由度并串联机构回避障碍的算法问题，并实现了运动仿真，核算法应用了优先顺位的理论，利用旋转张量法，对杆长随时间变化的高冗余自由度操作臂实现了变臂长的避障规划，并在ＣＡＤ工作站上完成了回避障碍钻洞的运动仿真，获得了满意的结果。国家自然科学基金

The SmartVision navigation prototype for the blind

The goal of the project "SmartVision: active vision for the blind" is to develop a small and portable but intelligent and reliable system for assisting the blind and visually impaired while navigating autonomously, both outdoor and indoor. In this paper we present an overview of the prototype, design issues, and its different modules which integrate a GIS with GPS, Wi-Fi, RFID tags and computer vision. The prototype addresses global navigation by following known landmarks, local navigation with path tracking and obstacle avoidance, and object recognition. The system does not replace the white cane, but extends it beyond its reach. The user-friendly interface consists of a 4-button hand-held box, a vibration actuator in the handle of the cane, and speech synthesis. A future version may also employ active RFID tags for marking navigation landmarks, and speech recognition may complement speech synthesis.

O reconhecimento de adquiridos experienciais como impulsionador de novos projectos

Trabalho de projecto de mestrado, Ciências da Educação (Formação de Adultos), Universidade de Lisboa, Instituto de Educação, 2011

A fractional approach for the motion planning of redundant and hyper-redundant manipulators

The trajectory planning of redundant robots through the pseudoinverse control leads to undesirable drift in the joint space. This paper presents a new technique to solve the inverse kinematics problem of redundant manipulators, which uses a fractional differential of order α to control the joint positions. Two performance measures are defined to examine the strength and weakness of the proposed method. The positional error index measures the precision of the manipulator's end-effector at the target position. The repeatability performance index is adopted to evaluate if the joint positions are repetitive when the manipulator execute repetitive trajectories in the operational workspace. Redundant and hyper-redundant planar manipulators reveal that it is possible to choose in a large range of possible values of α in order to get repetitive trajectories in the joint space.

Field experiments for marine casualty detection with autonomous surface vehicles

In this paper we present a set of field tests for detection of human in the water with an unmanned surface vehicle using infrared and color cameras. These experiments aimed to contribute in the development of victim target tracking and obstacle avoidance for unmanned surface vehicles operating in marine search and rescue missions. This research is integrated in the work conducted in the European FP7 research project Icarus aiming to develop robotic tools for large scale rescue operations. The tests consisted in the use of the ROAZ unmanned surface vehicle equipped with a precision GPS system for localization and both visible spectrum and IR cameras to detect the target. In the experimental setup, the test human target was deployed in the water wearing a life vest and a diver suit (thus having lower temperature signature in the body except hands and head) and was equipped with a GPS logger. Multiple target approaches were performed in order to test the system with different sun incidence relative angles. The experimental setup, detection method and preliminary results from the field trials performed in the summer of 2013 in Sesimbra, Portugal and in La Spezia, Italy are also presented in this work.

Les dispositifs d’aide à la consommation : une analyse qui prend compte des obstacles à la rationalité dans l’évaluation des biens de consommation

Ce projet de recherche vise à explorer le rôle du design dans l’acte d’achat et l’évaluation des produits. L’hypothèse de recherche repose sur le fait que le design est un obstacle à la rationalité dans le choix d’un bien, car ce dernier est rattaché à des singularités qui lui sont propres, le rendant difficilement comparable aux autres biens d’un même marché. Les produits deviennent difficiles à évaluer et à classer parmi les autres biens similaires dans le marché. En soi, la finalité et les vertus du design permettent aux consommateurs d’avoir une plus grande liberté de choix, mais ce rôle dynamique et économique que peut prendre le design peut aussi confondre les consommateurs devenant brouillés par l’abondance de choix. En ce sens, le design serait la clé de la voûte d’une économie des singularités telle que proposée par Lucien Karpik dans L’économie des singularités. Avec une méthodologie ethnologique, cinq projets d’évaluation de produits au sein de deux organismes produisant des dispositifs d’aide à la consommation ont été observés sur une période de deux ans. À la conclusion de cette étude, il a été démontré que certaines améliorations pouvaient être apportées aux processus d’évaluation, plus particulièrement en ce qui concerne les facteurs qui ne sont pas pris en compte dans les dispositifs d’aide à la consommation actuels, comme l’évaluation de produits centrée sur l’usager à l’aide de scénarios d’usages, plutôt que l’évaluation de produits centrée sur l’objet, ainsi que la considération de l’expérience de l’usager dans l’évaluation des biens.