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41.
  • Rahayem, Mohamed, 1978- (författare)
  • Planar segmentation for Geometric Reverse Engineering using data from a laser profile scanner mounted on an industrial robot
  • 2008
  • Licentiatavhandling (övrigt vetenskapligt/konstnärligt)abstract
    • Laser scanners in combination with devices for accurate orientation like Coordinate Measuring Machines (CMM) are often used in Geometric Reverse Engineering (GRE) to measure point data. The industrial robot as a device for orientation has relatively low accuracy but the advantage of being numerically controlled, fast, flexible, rather cheap and compatible with industrial environments. It is therefore of interest to investigate if it can be used in this application. This thesis will describe a measuring system consisting of a laser profile scanner mounted on an industrial robot with a turntable. It will also give an introduction to Geometric Reverse Engineering (GRE) and describe an automatic GRE process using this measuring system. The thesis also presents a detailed accuracy analysis supported by experiments that show how 2D profile data can be used to achieve a higher accuracy than the basic accuracy of the robot. The core topic of the thesis is the investigation of a new technique for planar segmentation. The new method is implemented in the GRE system and compared with an implementation of a more traditional method. Results from practical experiments show that the new method is much faster while equally accurate or better.
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42.
  • Rashid, Jayedur, 1979-, et al. (författare)
  • A middleware to integrate robots, simple devices and everyday objects into an ambient ecology
  • 2012
  • Ingår i: Pervasive and Mobile Computing. - : Elsevier. - 1574-1192 .- 1873-1589. ; 8:4, s. 522-541
  • Tidskriftsartikel (refereegranskat)abstract
    • The fields of ambient intelligence, distributed robotics and wireless sensor networks are converging toward a common vision, in which ubiquitous sensing and acting devices cooperate to provide useful services in the home. These devices can range from sophisticated mobile robots to simple sensor nodes and even simpler tagged everyday objects. In this vision, a milkbox left on the table after the user has left the home could ask the service of a mobile robot to be placed back in the refrigerator. A missing ingredient to realize this vision is a mechanism that enables the communication and interoperation among such highly heterogeneous entities. In this paper, we propose such a mechanism in the form of a middleware able to integrate robots, tiny devices and augmented everyday objects into one and the same system. The key moves to cope with heterogeneity are: the definition of a tiny, compatible version of the middleware, that can run on small devices; and the concept of object proxy, used to make everyday object accessible within the middleware. We describe the concepts and implementation of our middleware, and show a number of experiments that illustrate its performance.
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43.
  • Rashid, Jayedur, et al. (författare)
  • Digital representation of everyday objects in a robot ecology via proxies
  • 2008
  • Ingår i: IEEE/RSJ international conference on intelligent robots and systems, 2008, IROS 2008. - 9781424420575 ; , s. 1908-1914
  • Konferensbidrag (refereegranskat)abstract
    • Robotic middlewares increasingly allow the seamless integration of multiple heterogeneous robots into one distributed system. Unfortunately, very simple devices like tagged everyday objects and smart objects are left orphan in this otherwise pervasive trend. We claim that the inclusion of simple everyday objects as part of distributed robot systems would have many advantages, and propose a design pattern to allow this inclusion. We make this pattern concrete by describing an implementation of it using a specific multi-robot middleware, called PEIS-Ecology Middleware. We also show an illustrative experiment which integrates everyday objects in a smart home equipped with mobile robots as well as more advanced distributed sensor nodes.
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44.
  • Rashid, Jayedur, et al. (författare)
  • Indirect reference : reconfiguring distributed sensors and actuators
  • 2010
  • Ingår i: 2010 IEEE international conference on sensor networks, ubiquitous, and trustworthy computing. - : IEEE conference proceedings. - 9780769540498 ; , s. 284-290
  • Konferensbidrag (refereegranskat)abstract
    • Many sensor networks have lately included actuation as an important property of the nodes. With the introduction of actuation, new requirements are posed on these nodes in terms of reconfiguration of collaboration patterns. The sensors/actuators are very often connected to various heterogeneous hardware that have a few KBs of memory, low processing power and communication range, such as WSN motes. Also, for many applications networks of small and simple sensor and actuator nodes need to cooperate with networked robotic devices, which leads to further requirements to enable collaboration between devices of different scales. In this networked robot and sensor/actuator infrastructure, tasks are performed by the cooperation of multiple devices. Dynamically changing availability of devices as well as changes of tasks lead to a need of reconfiguration of the devices at runtime. Therefore a mechanism should be available in the communication level, which affords reconfiguration ability to the sensor/actuator nodes as well as robots. In this article, a concept called indirect reference is proposed, which facilitates dynamic reconfiguration of sets of distributed devices. We describe here also an implementation of the concept on a ubiquitous robotic middleware, which offers seamless integration of robots and WSN motes like tiny embedded devices with an example.
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45.
  • Rashid, Md. Jayedur, 1979- (författare)
  • Extending a networked robot system to include humans, tiny devices, and everyday objects
  • 2011
  • Doktorsavhandling (övrigt vetenskapligt/konstnärligt)abstract
    • In networked robot systems (NRS), robots and robotic devices are distributed in the environment; typically tasks are performed by cooperation and coordination of such multiple networked components. NRS offer advantages over monolithic systems in terms of modularity, flexibility and cost effectiveness, and they are thus becoming a mainstream approach to the inclusion of robotic solutions in everyday environments. The components of a NRS are usually robots and sensors equipped with rich computational and communication facilities. In this thesis, we argue that the capabilities of a NRS would greatly increase if it could also accommodate among its nodes simpler entities, like small ubiquitous sensing and actuation devices, home appliances, or augmented everyday objects. For instance, a domestic robot needs to manipulate food items and interact with appliances. Such a robot would benefit from the ability to exchange information with those items and appliances in a direct way, in the same way as with other networked robots and sensors. Combining such highly heterogeneous devices inside one NRS is challenging, and one of the major challenges is to provide a common communication and collaboration infrastructure. In the field of NRS, this infrastructure is commonly provided by a shared middleware. Unfortunately, current middlewares lack the generality needed to allow heterogeneous entities such as robots, simple ubiquitous devices and everyday objects to coexist in the same system. In this thesis we show how an existing middleware for NRS can be extended to include three new types of “citizens” in the system, on peer with the other robots. First, we include computationally simple embedded devices, like ubiquitous sensors and actuators, by creating a fully compatible tiny version of the existing robotic middleware. Second, we include augmented everyday objects or home appliances which are unable to run the middleware on board, by proposing a generic design pattern based on the notion of object proxy. Finally,we go one step further and include humans as nodes in the NRS by defining the notion of human proxy. While there exist a few other NRS which are able to include both robots and simple embedded devices in the same system, the use of proxies to include everyday objects and humans in a generic way is a unique feature of this work. In order to verify and validate the above concepts, we have implemented them in the Peis-Ecology NRS model. We report a number of experiments based on this implementation, which provide both quantitative and qualitative evaluations of its performance, reliability, and interoperability.
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46.
  • Saffiotti, Alessandro, et al. (författare)
  • PEIS ecologies : ambient intelligence meets autonomous robotics
  • 2005
  • Ingår i: Proceedings of the 2005 joint conference on Smart objects and ambient intelligence. - New York, NY, USA : ACM. - 1595933042 ; , s. 275-280
  • Konferensbidrag (refereegranskat)abstract
    • A common vision in the field of autonomous robotics is to create a skilled robot companion that is able to live in our homes and to perform physical tasks to help us in our everyday life. Another vision, coming from the field of ambient intelligence, is to create a network of intelligent devices that provides us with information, communication, and entertainment. We propose to combine these two visions into the new concept of an ecology of networked Physically Embedded Intelligent Systems (PEIS). In this paper, we define this concept, discuss ways to implement it, and illustrate it on a simple example involving some real robotic devices.
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47.
  • Saffiotti, Alessandro, et al. (författare)
  • Steps toward an ecology of physically embedded intelligent systems
  • 2006
  • Konferensbidrag (refereegranskat)abstract
    • The concept of Ecology of Physically Embedded Intelligent Systems, or PEIS-Ecology, combines insights from the fields of ubiquitous robotics and ambient intelligence to provide a new solution to building intelligent robots in the service of people. While this concept provides great potential, it also presents a number of new scientific challenges. In this paper we introduce this concept, discuss its potential and its challenges, and present our current steps toward its realization. We also point to experimental results that show the viability of this concept. The discussion in this paper is also relevant to any type of ubiquitous robot or network robotic system
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48.
  • Saffiotti, Alessandro, 1960-, et al. (författare)
  • The PEIS-ecology project : vision and results
  • 2008
  • Ingår i: IEEE/RSJ international conference on intelligent robots and systems, IROS 2008. - New York : IEEE. - 9781424420575 ; , s. 2329-2335
  • Konferensbidrag (refereegranskat)abstract
    • The vision of an Ecology of Physically Embedded Intelligent Systems, or PEIS-Ecology, combines insights from the fields of autonomous robotics and ambient intelligence to provide a new approach to building robotic systems in the service of people. In this paper, we present this vision, and we report the results of a four-year collaborative research project between Sweden and Korea aimed at the concrete realization of this vision. We focus in particular on three results: a robotic middleware able to cope with highly heterogeneous systems; a technique for autonomous self-configuration and re-configuration; and a study of the problem of sharing information of both physical and digital nature.
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49.
  • Seeman, Mattias, et al. (författare)
  • An autonomous spherical robot for security tasks
  • 2006
  • Ingår i: 2006 IEEE International Conference on Computational Intelligence for Homeland Security and Personal Safety. - 1424407443 ; , s. 51-55
  • Konferensbidrag (refereegranskat)abstract
    • The use of remotely operated robotic systems in security related applications is becoming increasingly popular However, the direct teleoperation interfaces commonly used today put a large amount of cognitive burden on the operators, thus seriously reducing the efficiency and reliability of these systems. We present an approach to alleviate this problem by exploiting both software and hardware autonomy. At the software level, we propose a variable autonomy control architecture that dynamically adapts the degree of autonomy of the robot in terms of control, perception, and interaction. At the hardware level, we rely on the intrinsic autonomy and robustness provided by the spherical morphology of our Ground-Bot robot. We also present a prototype system for facilitating the interaction between human operators and robots using our control architecture. This work is specifically aimed at increasing the effectiveness of the GroundBot robot for remote inspection tasks
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50.
  • Seeman, Mattias (författare)
  • Tele-Operated Remote Inspection with a Spherical Robot.
  • 2009
  • Licentiatavhandling (övrigt vetenskapligt/konstnärligt)abstract
    • Robotic remote inspection, such as security surveillance or disaster area examination, can be efficient and at the same time protect humans from danger. However, conventional tele-operation interfaces impose a cognitive burden on the operator, who is typically not a robotics expert, and high-level information interpretation and decision-making is neglected. This work investigates the use of a spherical robot for remote inspection. Ball-shaped robots are inherently stable and robust, encapsulating all sensors and moving parts. They are, however, oscillation-prone and this causes some control and perception challenges.
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