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This book contains a selection of papers accepted for presentation and discussion at ROBOT 2015: Second Iberian Robotics Conference, held in Lisbon, Portugal, November 19th-21th, 2015. ROBOT 2015 is part of a series of conferences that are a joint organization of SPR – “Sociedade Portuguesa de Robótica/ Portuguese Society for Robotics”, SEIDROB – S...
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... mainly students of the Industrial Electronics first degree, especially form the last year of their studies. Lectures on how to build the robot, mechanics, soldering the electronic components, programming, some history of robotics and national and international robotics competitions, servicing robots and other subjects, are taken in the multipurpose area ( Fig. 4 ). Robot demonstrations and display of new high-tech gadgets is reserved to a special area next to the working space. The entertaining/sports activities are very popular; such as the indoor Aircraft Modelling, Basketball, Football, Tennis table, Badminton, Wood Ball, Taekwondo, Yoga, Kickboxing, Judo, Karate, Capoeira, Stretches, Cardio Session, Triathlon indoor, Golf, Quick Chess, circus activities, Ballroom dance, Archery, Horse Riding and Scuba Diving. These activities are available most of the time and each participant decides on which activities is going to participate. Professionals on each activity (indoor or outdoor) are present to follow, guide and teach the participant. B. The image The RoboParty image was created by a professional designer who produced Ruminho (Robotics at University of MINHO), the event’s mascot. It consists of a friendly two wheels robot, with two robotic arms and large eyes (Fig. 5). Based on the Ruminho mascot, several products were created (Fig. 6) such as the event’s T-shirt offered to all the participants, the RFID badge used for check-in at the working area entrance, some trophies given to the winners on some of the robot trials or sports competitions, the participation certificate, the Ruminho plush and advertising posters (Fig. 5) sent to schools months before. A web site was created [9] to provide all the information related to the event. It also serves to advertise the event and to allow team registrations. Parents and tutors can use the web site to find all the necessary information in order to understand all the procedures involved, security aspects and the rules of the event. The web site also provides pictures and movies of previous editions so people can have an idea of how the event happens. During the event this gallery section of the web site is populated with pictures and movies taken during the day, along with a webcam streaming of the working area so people at home can enjoy the event live as ...
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... This challenge can be tackled by using miniaturized components and flexible electronics, in addition to clever design solutions that would minimize the number of components without sacrificing the quality of the measurements. In the rest of the manuscript, we report the design and realization of a physical sensor that has been successfully integrated in the finger of a humanoid robot (i.e., Vizzy [6]), in addition to the simulations that characterize the fabricated tactile sensor. Our main contributions are: a novel design for magnetic-based tactile sensors and a physical realization of a miniaturized device. ...
... (a) Vizzy's finger is made of aluminum and is compatible withFigure 1aand is described in detail in a previous work[6]. (b) Redesigned 3D printed prototype for the middle phalange, the electronic interface, and the tactile sensor. ...
Tactile sensing is crucial for robots to manipulate objects successfully. However, integrating tactile sensors into robotic hands is still challenging, mainly due to the need to cover small multi-curved surfaces with several components that must be miniaturized. In this paper, we report the design of a novel magnetic-based tactile sensor to be integrated into the robotic hand of the humanoid robot Vizzy. We designed and fabricated a flexible 4 × 2 matrix of Si chips of magnetoresistive spin valve sensors that, coupled with a single small magnet, can measure contact forces from 0.1 to 5 N on multiple locations over the surface of a robotic fingertip; this design is innovative with respect to previous works in the literature, and it is made possible by careful engineering and miniaturization of the custom-made electronic components that we employ. In addition, we characterize the behavior of the sensor through a COMSOL simulation, which can be used to generate optimized designs for sensors with different geometries.
Motivated by the recent explosion of interest around Educational Robotics (ER), this paper attempts to re-approach this area by suggesting new ways of thinking and exploring the related concepts. The contribution of the paper is fourfold. First, future readers can use this paper as a reference point for exploring the expected learning outcomes of educational robotics. From an exhaustive list of potential learning gains, we propose a set of six learning outcomes that can offer a starting point for a viable model for the design of robotic activities. Second, the paper aims to serve as a survey for the most recent ER platforms. Driven by the growing number of available robotics platforms, we have gathered the most recent ER kits. We also propose a new way to categorize the platforms, free from their manufacturers’ vague age boundaries. The proposed categories, including
No Code
,
Basic Code
, and
Advanced Code
, are derived from the prior knowledge and the programming skills that a student needs to use them efficiently. Third, as the number of ER competitions, and tournaments increases in parallel with ER platforms’ increase, the paper presents and analyses the most popular robotic events. Robotics competitions encourage participants to develop and showcase their skills while promoting specific learning outcomes. The paper aims to provide an overview of those structures and discuss their efficacy. Finally, the paper explores the educational aspects of the presented ER competitions and their correlation with the six proposed learning outcomes. This raises the question of which primary features compose a competition and achieve its’ pedagogical goals. This paper is the first study that correlates potential learning gains with ER competitions to the best of our knowledge.
The increasing use of mobile cooperative robots in a variety of applications also implies an increasing research effort on cooperative strategies solutions, typically involving communications and control. For such research, simulation is a powerful tool to quickly test algorithms, allowing to do more exhaustive tests before implementation in a real application. However, the transition from an initial simulation environment to a real application may imply substantial rework if early implementation results do not match the ones obtained by simulation, meaning the simulation was not accurate enough. One way to improve accuracy is to incorporate network and control strategies in the same simulation and to use a systematic procedure to assess how different techniques perform. In this paper, we propose a set of procedures called Integrated Robotic and Network Simulation Method (IRoNS Method), which guide developers in building a simulation study for cooperative robots and communication networks applications. We exemplify the use of the improved methodology in a case-study of cooperative control comparison with and without message losses. This case is simulated with the OMNET++/INET framework, using a group of robots in a rendezvous task with topology control. The methodology led to more realistic simulations while improving the results presentation and analysis.
Using a team of mobile robots connected through ad hoc networks is becoming increasingly attractive for a myriad of applications, including search, rescue and surveillance. In this paper, we present a method for the design and performance evaluation of complex wireless networked control systems, focusing on cooperative control strategy in robotic tasks. It is described a simulation architecture and specific developments that are required to simulate cooperative robotic systems over a mobile ad hoc network (MANET), regarding individual control, cooperative control, network model and topology control aspects. We assess the capabilities of the proposed method using OMNET++/INET simulator and a rendezvous task with topology control over a MANET. The rendez-vous task is implemented as a consensus problem and is solved by receding horizon control. The resulting simulation shows that not only it is possible to simulate this complex set of algorithms on OMNeT++, but if an organized simulation process is followed, it may allow a better planning of experimental cases to achieve more meaningful results.
