For surveying operations with a low-cost robot limited to a down-looking camera and a sonar altimeter, it is common practice to ensure that there is enough overlap between time-consecutive images as this is the only source of navigation data. When the robot revisits a previously surveyed area, it is essential to detect and match the non time-consecutive images to close a loop and, thus improve the trajectory estimate. While creating the mosaic, most of the existing algorithms try to match all image pairs to detect the non time-consecutive overlapping images when there is no additional navigation information.

关键词：机器人；重叠图像；模拟信息

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In automotive industry, industrial robots are widely used in production lines for many tasks such as welding, painting or assembly. Their use requires, from users, both a good manipulation and robot control. Recently, new tools have been developed to realize fast and accurate trajectories in many production sectors by using the real prototype of vehicle or a generalized design within a virtual simulation platform. However, many issues could be considered in these cases: the" delay between the design of the vehicle and its production is often important, moreover, the virtual modeling presents a non realistic aspect of the real robot and vehicle, so this factor could introduce localization inacurracies in performing trajectories. Our work is registered as a part of TRI project (Teleteaching Industrial Robots) which aims to realize a demonstrator showing the interaction of industrial robots with virtual components and allowing to train users to perform successfully their tasks on a virtual representation of a production entity. In this project we make use of Augmented Reality (AR) techniques to overlay virtual objects onto the real world in order to enhance the user's perception and interaction while performing a specific industrial task. The idea is to allow the real robot to teach trajectories of an automotive task thanks to vehicle virtual model. The pose accuracy is prerequisite of our application since it allows a reliable teaching of the real trajectory. Therefore, we survey some vision-based pose computation algorithms and present a method that offers increased robustness and accuracy in the context of real-time AR tracking. Our aim is to determine the performance of these pose estimation methods in term of errors and distance evaluation. The evaluation of the pose estimation methods was obtained using a series of tests and an experimental protocol. The analysis of results shows the performance of algorithms in term of accuracy, stability and convergence.

关键词：增强现实;姿态估计;工业机器人;计算机视觉;实时跟踪

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关键词：机器人；环境；交互；设计

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In this paper a new concept of Mobile Spatial Assistive Intelligence (MSAI) applied for the control and supervision of web connected mobile robots is introduced. Mobile Intelligence is implemented as MSAS (Mobile Spatial Assistance System) - a mobile robot available to perform Qualitative Spatio-Temporal Representation and Reasoning (QSTRR). Taking up this subject is justified by the need of developing new methods for the control, supervision and integration of existing modules (inspection robots, autonomous robots, mobile base station). The research problem comprises the web connected mobile robots system development structure with the exemplification based on the inspection-intervention system. Using QSTRR for supervision and control of robotics system is a novel approach and I believe that this framework can decrease the cognitive load for a human operator. The main task for MSAS is to build the semantic model of the structured environment based on its observations. This semantic model is used by a qualitative reasoner - an important component of MSAI, to perform spatial entities' supervision based on the spatial relations and the spatio-temporal events. The experiments' results obtained using the prototype of MSAS in real indoor environment are also discussed. This approach can be used for the design of the intelligent human machine interface that can help in controlling the robot during the risky scenarios.

关键词：语义映射;机器人系统;监督;定性表示和推理

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Novel care-technologies possess a transformational potential. Future care and support may be provided via monitoring technologies such as smart devices, sensors, actors (robots) and Information and Communication Technologies. Such technologies enable care provision outside traditional care institutions, for instance in the homes of patients. Health monitoring may become "personalized" i.e. tailored to the needs of individual care recipients' but may also alter relations between care providers and care recipents, shape and form the care environment and influence values central to health-care. Starting out from a social constructivist theory of technology, an interactive ethical assessment-model is offered. The suggested model supplements a traditional analysis based on normative ethical theory (top-down approach) with interviews including relevant stakeholders (a bottom-up approach). This method has been piloted by small-scale interviews encircling stakeholder perspectives on three emerging technologies: Careousel, a smart medicine-management device, Robot Giraff, an interactive and mobile communication-device and I-Care, a care-software that combines alarm and register system. By incorporating stakeholder perspectives into the analysis, the interactive ethical assessment model provides a richer understanding of the impact of PHM-technologies on ethical values than a traditional top-down model. If the assessment is conducted before the technology has reached the market - preferably in close interaction with developers and users - ethically sound technologies may be obtained.

关键词：护理;护理伦理;机器人;医疗保健

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This chapter describes a novel methodology for behavior learning of an agent, called Coaching. The proposed method is an interactive and iterative learning method which allows a human trainer to give a subjective evaluation to the robotic agent in real time, and the agent can update the reward function dynamically based on this evaluation simultaneously. We demonstrated that the agent is capable of learning the desired behavior by receiving simple and subjective instructions such as positive and negative. The proposed approach is also effective when it is difficult to determine a suitable reward function for the learning situation in advance. We have conducted several experiments with a simulated and a real robot arm system, and the advantage of the proposed method is verified throughout those experiments.

关键词：机器人；手臂系统；模拟

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This paper describes the optimization of an Integrator control block within the proposed navigation control system for a mobile robot. The control blocks that the integrator will combine are two Fuzzy Inference Systems (FIS) in charge of tracking and reaction respectively.

关键词：机器人；导航控制系统；模糊推理系统

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Robot teleoperation via haptic interface has been increasingly studied in recent years. In fact, the capacity to remotely feel the forces being exerted on a robot end-effector is a major advantage for many modern robot applications. This study aims to explore the capabilities of a low-cost haptic device, a force/torque sensor and a commercially available industrial robot, both together for haptic-based robot teleoperation purposes. A ballistic approach is implemented to make the mapping between the motion produced on the haptic device by the operator and the resulting robot motion. Inspired by some studies in the field of robot haptics, the robot and haptic device are connected by a virtual spring, which allows the operator to feel the sensation of pull and push the robot at the same time that teleoperates it. Results related to the process of robot teleoperation and contact with different objects are analyzed and discussed.

关键词：触觉界面；机器人；虚拟

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This paper presents the development of a behavior-based AGV using fuzzy logic. A robot platform and a fuzzy logic controller (FLC) are developed for the embodiment of different behaviors.

关键词：模糊逻辑；机器人；AGV

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This paper proposes the control interface of a robotic wheelchair for sufferers from rheumatism. The proposed interface adopts electromyogram(EMG)signals as input signals for command generation based on functionally different effective muscle(FEM)theory. Sufferers from rheumatism can move not his joints but muscles. Therefore, EMG signals have a potential to become the helpful tool. In addition, FEM theory represents the relation between the direction of the output force at the end effector such as a wrist(or an ankle)and muscles of limbs. Thus, the proposed interface can realize the intuitive operation. Experimental results evaluate the utility of the proposed control interface.

关键词：运动控制;肌电信号;有限元理论;命令生成;移动机器人

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