This paper provides a brief overview on the recent advances of small-scale unmanned aerial vehicles (UAVs) from perspective platforms, key elements, and scientific research. The survey starts with an introduction UAV based information summarized 132 models available worldwide. Next, evolvement including onboard processing units, navigation sensors, mission-oriented communication modules, ground control station, is presented analyzed. Third, achievements research, particularly platform design...

Nowadays, the most adopted model for design and control of soft robots is piecewise constant curvature model, with its consolidated benefits drawbacks. In this work, an alternative multisection manipulator dynamics presented based on a discrete Cosserat approach, in which continuous discretized by assuming strain along arm. As consequence, state described finite set strains. This approach has several advantages respect to existing models. First, it takes into account shear torsional...

The development of robotic solutions for agriculture requires advanced perception capabilities that can work reliably in any crop stage. For example, to automatise the tomato harvesting process greenhouses, visual system needs detect life cycle stage (flower ripe tomato). state-of-the-art detection focuses mainly on tomato, which has a distinctive colour from background. This paper contributes with an annotated dataset green and reddish tomatoes. kind is uncommon not available research...

In this paper we present a tutorial introduction to two important senses for biological and robotic systems — inertial visual perception. We discuss the fundamentals of these sensing modalities from an engineering perspective. Digital camera chips micro-machined accelerometers gyroscopes are now commodities, when combined with today's available computing can provide robust estimates self-motion as well 3D scene structure, without external infrastructure. complementarity sensors, describe...

This paper proposes an approach to calibrate off-the-shelf cameras and inertial sensors have a useful integrated system be used in static dynamic situations. When both are their relative pose needs determined. The rotation between the camera sensor can estimated, concurrently with calibration, by having observe vertical direction several poses. relies on chequered planar target gravity obtain reference. Depending setup motion, translation two also important. Using simple passive turntable...

Advancements in robotics and autonomous systems are being deployed nowadays many application domains such as search rescue, industrial automation, domestic services healthcare. These developed to tackle tasks some of the most challenging, labour intensive dangerous environments. Inspecting structures (e.g. bridges, buildings, ships, wind turbines aircrafts) is considered a hard task for humans perform critical importance since missing any details could affect structure’s performance...

This paper explores the combination of inertial sensor data with vision. Visual and sensing are two sensory modalities that can be explored to give robust solutions on image segmentation recovery 3D structure from images, increasing capabilities autonomous robots enlarging application potential vision systems. In biological systems, information provided by vestibular system is fused at a very early processing stage vision, playing key role execution visual movements such as gaze holding...

Modeling and control of soft robots is an up-to-date exciting area research which has been tackled with complementary approaches so far. In this paper, we modify the existing continuum Cosserat approach optimizing it for robot arms can be discretized in a finite number sections degrees freedom. The resulting new piece-wise constant strain model extends curvature by allowing torsion shears strains are fundamental to cope out-of-the-plane external forces as appearing example during ground...

Motivated by the need to regulate and regularly inspect construction sites, we developed a real-time robust drone system that performs site inspection violation detection in sites. The proposed uses monitor numerous types of sites remotely from any control station or nearby locations. Our was as an entry participate "Drones For Good" 2015 competition, qualified finals. technological solution presented this paper introduces possible utilization technology industry. We will first introduce...

A unified formulation that accounts for the dynamics of a general class aquatic multi-body, soft-structured robots is presented. The based on Cosserat formalism where description ensemble geometrical entities, such as shells and beams, gives rise to multi-soft-body system capable simulating both manipulation locomotion. Conceived an advanced tool priori hardware development, n-degree-of-freedom analysis control design underwater, soft, vehicles, model validated against locomotion experiments...

Unlicensed cognitive-radio (CR)-assisted Internet of Vehicles (IoV) users can access licensed providers' radio spectrum and concurrently utilize the dedicated channel for data transmission in vehicular communication. Optimizing cognitive IoV networks help maximize available resources. This article proposes a novel sensing communication integrated framework, dubbed as CR-assisted network (CRAV-Net), using cluster-based hybrid optimization approach with adaptive congestion-aware modeling...

This paper introduces a new metamorphic parallel mechanism consisting of four reconfigurable rTPS limbs. Based on the reconfigurability Hooke (rT) joint, limb has two phases while in one phase no constraint to platform, other it constrains spherical joint center lie plane. results have ability reconfiguration between different topologies with variable mobility. Geometric equations platform rotation matrix and translation vector are set up based point-plane constraint, which reveals...

The frequency up-shifts of ultrashort laser pulses (65 fs) propagating in opposite directions (20\ifmmode^\circ\else\textdegree\fi{} and 160\ifmmode^\circ\else\textdegree\fi{}) with respect to a relativistic ionization front (interface gas plasma) are measured for the first time. Up-shifts order 25 nm observed. A very good agreement is found two-dimensional ray-tracing theory.

This paper describes a type of mobile robot with spherical shape designed to act as platform carry sensing devices or actuators in an environment where the conditions are harsh and stability mechanical is critical. A remotely controlled internal unit drives robot. The focuses on design motion control shape. developed modules implemented digital programmable logic devices, using hardware description language named VHDL. controls multiple devices: multichannel analogue-to-digital (A/D)...