Inverse kinematics involves calculating joint configurations for a robot manipulator to perform tasks. To solve this problem, various approaches have been proposed, including meta-heuristics methods, which are not specific class and do require matrix inversion. Particle Swarm Optimization (PSO) is commonly used meta-heuristic due its simplicity effectiveness, but it prone local minima. In response challenge, several PSO variants introduced, incorporating strategies such as multiple...

Abstract The use of underwater vehicle manipulator systems (UVMS) equipped with cameras has gained significant attention due to their capacity perform tasks autonomously. However, controlling both the and remotely operated (ROV) based on vision system information is not an easy task, especially in situations where cannot be parked/held stationary. Most existing approaches work complex matrix calculations for inverse kinematics (IK), which can lead high computational costs need deal...

The inverse kinematics of mobile manipulators is a challenging problem due to the high degree kinematic redundancy added by coupling platform and manipulator. Some different approaches have been proposed solve this problem, but most them are either complex in terms modelling matrix calculation, with computational cost even singularity problems, or slow convergence. This paper proposes new approach for based on algorithm FABRIK. method, named M-FABRIK, has as main advantages simplicity...

This paper analyses the impact of parametric uncertainties a mobile robot kinematic model on velocity and pose estimation, providing models quantifiable knowledge about them. Most works neglect how uncertainty regarding robot's construction aspects (such as wheels radii, distance between them, center mass) affects both velocities estimation. To help readers understand influence such uncertainties, we performed experiments in simulator used collected data proposed models. The also magnitude...

The paper presents a Computer Vision System based on texture segmentation and variation of the Standard Hough Transform, in which choice parameters that determine straight line better represents image is contour conditions particular case weld detection fuel storage tanks, aiming to allow their correct by computer vision system even absence reinforcement structure, usually found those cases. proposed provides necessary information keep set ultrasonic sensors, used inspect line, position...

There is a growing demand for the use of robots to assist humans in their tasks, especially those involving risks, such as search and rescue. For this reason, coordination among several has been common option, one ways study model these applications involves problem pursuit evasion. This paper extends results presented earlier on an evolutionary robotics approach solve worst case pursuit-evasion problem, which evaders are considered arbitrarily fast omniscient, while pursuers have limited...

Wireless sensor networks (WSNs) often face challenges with the dynamic deployment of sensors in region interest (RoI). The random static nodes hazardous or large-scale open environments, dropped by airplanes, results coverage and connectivity issues due to environmental characteristics. These factors lead partial clustering RoI, creating isolated regions. One way address this limitation is introducing additional mobile nodes. However, adding increases redundancy costs. Conversely, article...

A Leishmaniose Visceral (LV), conhecida por sua gravidade, configura um desafio persistente para a saúde pública, especialmente em regiões tropicais e subtropicais do Brasil, onde as condições socioeconômicas desfavoráveis características ambientais promovem proliferação de vetores reservatórios da doença. Este estudo abrangente foi concebido analisar incidência internações hospitalares atribuídas à LV no território brasileiro durante o período janeiro 2014 março 2024, com enfoque detalhado...

In this paper it is presented a new approach to increase the dispersion of nodes in RRT, allows compact representation environment by reducing redundancy, with this, number samples discarded, computational cost and processing time tree growth also reduced. The developed method performs polarization creating search regions highest probability connectivity tree, these are created from environmental discretization. Furthermore, technique robust variation, not its performance more complex...

This paper develops on the process of inverse kinematics (IK) for manipulator robots based a recent technique from computer graphics area that has been highlighted by its simplicity and low computational cost. IK solver is known as Forward And Backward Reaching Inverse Kinematics (FABRIK) suffers singularities when applied in kinematic chains composed one degree freedom (1-DOF) joints. Some extensions this method have proposed to incorporate constraints some most common joints, however,...

In this article the development of a system for fillet weld identification is considered automatic inspection storage spheres. Distance sensors based on different physical principles are characterized and selected, thus getting, greater confidence acquired data. The data provided from types will be submitted to fusing process, aiming at increase performance system.

Quality control, cost reduction and above all, human environmental safety are great reasons that stimulate the investments in technologies like automatic inspection. The inspection of weld lines storage tanks is special interest, due to fact such currently used store harmful products. For a reliable it necessary accurate detect line position. In this paper development system perform detection proposed. Two redundant systems, based on different physical principles, distance visual...

In the robot soccer, a good strategy is essential to success of team. It responsible define behavior each on many game situations and make team play in cooperative manner win game. To accomplish this, it proposed this paper methodology designing strategies for soccer based discrete event systems formalism. The main idea allow construction where can be dynamically modified, depending context match. This modeled events system (DES) theory. DES formalism enables implement interaction between...

This paper proposes a novel approach for the popular Particle Swarm Optimization (PSO) algorithm to solve inverse kinematics problem robotic manipulator. Our proposed is based on full resampling of particles, which gave name method: Fully Resampled PSO (FRPSO). By doing that, we reduced dimension by half since velocity vector used was no longer needed, and improved robustness local minima. In order evaluate our method, compared it three versions solving planar 4-DOF robot 3D 7-DOF robot. The...

Quality control, cost reduction and above all, human environmental safety are great reasons that stimulate the investments in technologies such as automatic inspection. The inspection of weld lines storage tanks is special interest due to fact currently used store harmful products. For a reliable it necessary accurately detect line position. In this paper development system perform detection proposed. based on visual information implemented tested. Such makes use fault-tolerant estimation...

In this paper we present a new approach to cooperative overhead object transportation with obstacle avoidance for multi-robot systems. This considers situations in which there are obstacles that only pose risk the robots involved transport and not necessarily group of load. Thus, propose separate workspace into two layers way collision can be transposed by local planner. load problem allows system find shorter paths or even solution would possible classic approach. Furthermore, developed...

For robotics to become more accessible people not specialized in the area, it is of fundamental importance improve and simplify way interact with robots. Despite human-robot interaction (HRI) being an effervescent research most works published so far on use gesture interfaces for communication do clearly describe how used gestures were elicited, thus hindering reproducibility those works. Considering this, we propose a new reproducible Frustration-Based Approach (FBA), scientifically...

In this article, a new method is presented in order to increase node dispersion on RRTs. This approach allows for better environment representation, reducing the amount of nodes tree. The proposed RRT differs from Classic by an insertion node-tree connection method. affixing rule uses tree whose edges are variable length, which more rapidly explores environment's structure. reduce overlapping and nodes, could be added along edges, instead only outside them. Furthermore, work proposes...

Metal oxide (MOX) gas sensors present great potential for early detection of dangerous substances or undesirable environmental conditions in various industries their excellent cost-benefit. Even though some works show promising results regarding MOX sensors' sensitivity and suitability, this type device is heavily influenced by conditions, leading to low selectivity preventing application on non-controlled atmospheres. In paper, we aim address that issue analyzing how the uncertainties a...

This paper compares fuzzy and neural controllers when trying to cross the reality gap in evolutionary robotics. Reality is one of most relevant open questions robotics for it restricts its use practical complex applications Controllers are compared by navigation metrics differential drive robots (a Pioneer 3-DX). Based on metrics, similarity between could be verified. allows conclusion that Fuzzy Logic can also used Furthermore, with a Neural Network controller, control strategy results...

In this paper, a polarization technique is presented to reduce the amount of iterations and node discard RRT-Edge algorithm. The differs from Classic RRT by insertion new node-tree connection method. rule uses variable edge size possibility connect an tree. However, method generates great that can be reduced use proposed technique, which improvements on uniformity tree expansion graph exploration speed in path-planning phase. results obtained suggest reduction up 80% considering same...