To date, there has been limited work in applying Deep Belief Networks (DBNs) for acoustic modeling LVCSR tasks, with past using standard speech features. However, a typical system makes use of both feature and model-space speaker adaptation discriminative training. This paper explores the performance DBNs state-of-the-art system, showing improvements over Multi-Layer Perceptrons (MLPs) GMM/HMMs across variety features on an English Broadcast News task. In addition, we provide recipe data...

The article presents some aspects of a complex control system teleoperated military mobile robot Tactical Robotic System (TAROS) related to virtual reality and assistance human operator in general. Described is especially the unique innovative station which uses HMD Oculus Rift put into space containing visual feedback from camera images, including stereovision. serves as cost-effective portable replacement what otherwise would be large room with expensive equipment. Mentioned also another...

In a collaborative scenario, the communication between humans and robots is fundamental aspect to achieve good efficiency ergonomics in task execution. A lot of research has been made related enabling robot system understand predict human behaviour, allowing adapt its motion avoid collisions with workers. Assuming production high degree variability, robot’s movements can be difficult predict, leading feeling anxiety worker when changes trajectory approaches since no information about planned...

This paper mentions some problems related to utilization of a head-mounted display (HMD) for remote control mobile robots by human operator and also presents possible solution. Considered is specifically the new HMD device called Oculus Rift, which very interesting because its great parameters low price. The described in beginning, together with specific principles 3D display. Then follows design graphical user interface teleoperation, main focus on visualization stereoscopic images from...

Improved energy usage efficiency is a common goal for economic and environmental reasons. In this manuscript, we present new approach the execution of point-to-point robot motion. The an industrial or collaborative increased by reduction consumption during nontechnological, path-independent movements. novel trajectory generation method relies on particle swarm optimization with Bezier curve interpolator. We effectiveness algorithm several chosen trajectories, where best result yields up to...

The article focuses on specific challenges of the design a reconnaissance mobile robotic system aimed for inspection in underground coal mine areas after catastrophic event. Systems that are designated these conditions must meet standards and regulations. In this paper is discussed primarily main conception meeting explosion safety regulations European Union 2014/34/EU (also called ATEX—from French “Appareils destinés à être utilisés en ATmosphères Explosives”) Group I (equipment intended...

This paper focuses on the topological optimization of Formula Student bell crank.Modern trends in designing are weight reduction, and due to this, also reduction fuel consumption.Topological allows modification shape component respect strength demand boundary conditions loading.The software with computational methods is used.This accomplishes several interactions evaluates optimal one.Topologically optimized manufacturing usually done by 3D printing.In this article, authors follow...

The paper presents a practical implementation of complex control system manipulator arm mounted on mobile robot, controlled remotely by human operator. Described is the mechanical construction and parameters manipulator, overall structure then in more detail also several software modules which were designed to aid operator - including inverse kinematics an anti-collision system. universal has already been applied types manipulators.

In situations of a confined workplace with lot obstacles and complicated required trajectory the endpoint an industrial or collaborative robot, it may be impossible to find suitable robot its position within fulfill given task. some cases, could favorable design custom manipulator arm unusual kinematic structure shapes links. This article presents novel way finding optimal lengths two crucial links arm, where target are as short possible reduce mass, shape in form Bézier curve is chosen...

The article describes the latest progress in development of virtual operator station for teleoperated mobile robots. goal this project has been to create a comfortable way controlling robot equipped with stereovision cameras by utilization reality head-mounted device (HMD). After release augmented headset Microsoft HoloLens, idea was adapted instead reality, which brought some interesting new advantages solution, at cost drawbacks. focuses on technical implementation HoloLens and provides...

The article describes the process of development an essentially new wheel suitable both for moving on flat ground and travelling stairs. stair-climbing is composed rotary circular segments arranged around a shared carrier with arms to form complete profile adapted ground; stairs, individual are rotated by appropriate angle touch down tangentially stepping surface dimensions segments, centre rotation their partial turn have been chosen so that length arc along which segment rolls equal...

This article describes the construction of 3D laser range finder (LRF) for coal mine robot. The is based on our practical experiences with previous indoor LRF design. environment very dirty. It necessary to keep in mind this heavy working condition during whole design process. process started definition requirements. specification followed by selection suitable parts and dynamic analysis a selected actuator. housing was designed spatially arranged internal Rapid Prototyping method made fully...

This work focuses on improving a camera system for sensing workspace in which dynamic obstacles need to be detected. The currently available state-of-the-art solution (MoveIt!) processes data centralized manner from cameras that have registered before the starts. Our enables distributed processing and change number of sensors at runtime. is implemented using dedicated control unit filtering performed by comparing real expected depth images. Measurements speed all sensor into global voxel map...

This paper describes a Main control system of the mobile robot TELERESCUER for inspecting coal mine areas affected by catastrophic events. Carried out in framework EU programme Research Fund Coal and Steel under grant agreement No. RFCR-CT-2014-00002. The main problem is to applicate very demanding safe requirements ATEX on design including its communication with other subsystems. solving this presented paper.

This paper describes progress in design of main control system (MCS) the mobile robot TELERESCUER for inspecting coal mine areas affected by catastrophic events. At introduction is described whole project background and next chapter deal with communication between individual subsystems. The following part this decision about migration to ROS operating from initial based on Windows operation system. last focuses testing serial optical module.

Control systems of mobile robots controlled remotely by a human operator using only limited visual feedback from camera subsystem can aid the in various ways. This paper deals with automatic collision detection for manipulator arm mounted on robot - goal system is to prevent any possible collisions between and or itself. Implementation uses separating axis algorithm pairs oriented bounding boxes enveloping mechanical components robot. Practical testing whole control was done two existing robots.

The article presents a way of visualizing point clouds created by 3D scanning in coal mine. first part focuses on the choice individual algorithms for cloud pre-processing (using library PCL - Point Cloud Library), namely voxelization, outlier removing and smoothing. Then it is described main rendering algorithm software chosen some more advanced methods including shading coloring. In end there are mentioned optimizations speed especially few new providing additional data to user, related...