Industrial

Autonomous inspection of underwater structures
In the future our resource on land will be over exploited. The exploration of new resources in the ocean is in progress. Mining will be done on the bottom of the sea. The sea is also a big source of renewable energy. Off shore wind parks and tide plants are built. Also, the major world trade is handled over sea routes and several big harbours. All this maritime facilities are getting older and ...


A comparison of homotopic path planning algorithms for robotic applications
This paper addresses the path planning problem for robotic applications using homotopy classes. These classes provide a topological description of how paths avoid obstacles, which is an added value to the path planning problem. Homotopy classes are generated and sorted according to a lower bound heuristic estimator using a method we developed. Then, the classes are used to constrain and guide p...
Robust multi-robot coordination in pick-and-place tasks based on part-dispatching rules
This paper addresses the problem of realizing multi-robot coordination that is robust against pattern variation in a pick-and-place task. To improve productivity and reduce the number of parts remaining on the conveyor, a robust and appropriate part flow and multi-robot coordinate strategy are needed. We therefore propose combining part-dispatching rules to coordinate robots, by integrating a g...


Capability-oriented robot architecture for maritime autonomy
Advanced ocean systems are increasing their capabilities and the degree of autonomy more and more in order to perform more sophisticated maritime missions. Remotely operated vehicles are no longer cost-effective since they are limited by economic support costs, and the presence and skills of the human operator. Alternatively, autonomous surface and underwater vehicles have the potential to oper...
Efficient time-optimal two-corner trajectory planning algorithm for differential-driven wheeled mobile robots with bounded motor control inputs
We propose an efficient time-optimal trajectory planning algorithm for differential-driven wheeled mobile robots with bounded motor control inputs in the environment with cranked road where two corners with arbitrary angles exist. Based on dynamics for differential-driven wheeled mobile robots including actuating motors as well as on the bang–bang principle for time-optimality, we plan the ti...


Hybrid therapy of walking with Kinesis overground robot for persons with incomplete spinal cord injury: A feasibility study
Rehabilitation of walking ability is one of the most important objectives after a spinal cord injury. Robotic and neuroprosthetic technologies hold a considerable potential for driving walking rehabilitation therapies. However, new developments are needed in order to improve the walking rehabilitation interventions based in these technologies. We recently presented a cooperative control strateg...
Adaptive control of underactuated robots with unmodeled dynamics
This paper develops an adaptive controller for underactuated robotic systems with unmodeled dynamics. The control scheme is motivated by the applications of manipulators operating on dynamic platforms. The design decouples the system’s adaptation and control loops to allow for fast estimation rates, while guaranteeing bounded deviation from a nonadaptive reference system. The proposed formula...

Design and performance evaluation of an amphibious spherical robot
This paper presents an amphibious spherical robot that consists of a sealed upper hemispheroid, two quarter spherical shells, and a plastic circular plate. It has a plastic shelf for carrying the micro-robots, and four actuating units for movement. Each unit is composed of a water-jet propeller and two servomotors, each of which can rotate 90° in the horizontal and vertical directions. The rob...
Self-calibrating smooth pursuit through active efficient coding
This paper presents a model for the autonomous learning of smooth pursuit eye movements based on an efficient coding criterion for active perception. This model accounts for the joint development of visual encoding and eye control. Sparse coding models encode the incoming data at two different spatial resolutions and capture the statistics of the input in spatio-temporal basis functions. A rein...

Model-free incremental learning of the semantics of manipulation actions
Understanding and learning the semantics of complex manipulation actions are intriguing and non-trivial issues for the development of autonomous robots. In this paper, we present a novel method for an on-line, incremental learning of the semantics of manipulation actions by observation. Recently, we had introduced the Semantic Event Chains (SECs) as a new generic representation for manipulation...
Vision-based topological mapping and localization methods: A survey
Topological maps model the environment as a graph, where nodes are distinctive places of the environment and edges indicate topological relationships between them. They represent an interesting alternative to the classic metric maps, due to their simplicity and storage needs, what has made topological mapping and localization an active research area. The different solutions that have been propo...

UAV–UGVs cooperation: With a moving center based trajectory
This paper addresses the problem of relating the motion of a fixed-wing unmanned aerial vehicle (UAV) with a less constrained agent (LCA) whose motion pattern is comparable to unmanned ground vehicles (UGVs). The main challenge of the scenario is different velocity constraints for UAV and the LCA. To rise to the challenge, for fixed-wing UAV a novel moving center trajectory is proposed whose ce...
Validation of analytical models for the design of basal reinforced piled embankments
Van Eekelen et al. (2012a,b, 2013) have introduced an analytical model for the design of the geosynthetic reinforcement (GR) in a piled embankment. This paper further validates this model with measurements from seven full-scale tests and four series of scaled model experiments. Most of these measurements have been reported earlier in the literature. The new model describes arching with the “...
Modeling and experimental investigation of gas film in micro electrochemical discharge machining process
Electrochemical discharge machining (ECDM) is a promising machining technology that effectively machines non-conducting and brittle materials, featuring good material removal rate, flexibility, and accuracy of machining. ECDM makes use of the electrochemical discharge phenomenon to trigger the discharging by the gas film surrounding the tool electrode. As the fundamental of electrochemical disc...
Geometric prediction of conic tool in micro-EDM milling with fix-length compensation using simulation
Micro-EDM milling is an effective machining process for three-dimension micro-cavity of high hardness materials. However, tools wear sharply in micro milling, thus several compensation methods are applied. The present study examines the fix-length compensation method, and the initial experiments show that a cone-shaped tool end is formed with this compensation method. Because the cone angle is ...