Localisation coopérative robuste de robots mobiles par mesure d'inter-distance - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Localisation coopérative robuste de robots mobiles par mesure d'inter-distance write by Cyrille Pierre. This book was released on 2020. Localisation coopérative robuste de robots mobiles par mesure d'inter-distance available in PDF, EPUB and Kindle. Il existe de plus en plus d'applications en robotique mobile faisant intervenir plusieurs robots capables de communiquer entre eux et naviguer en coopération. L'objectif de ces travaux est d'exploiter la communication et la détection des robots avoisinants afin de réaliser de la localisation coopérative. Le moyen de détection des robots utilisé ici se base sur la technologie ultra-wideband,permettant d'effectuer des mesures précises de distance entre deux capteurs. L'approche que nous avons développée privilégie la robustesse et l'intégrité des estimations. Elle permet de prendre en compte des scénarios dans lesquels le peu d'information disponible rend la tâche de localisation difficile à gérer pour les robots. Ainsi, notre solution gère deux problématiques importantes de la localisation coopérative par mesure de distance : la corrélation des données échangées entre les robots et la non-linéarité du modèle d'observation des mesures. Pour résoudre ces problématiques, nous avons fait le choix de développer une approche décentralisée dans laquelle l'aspect coopératif est pris en compte par une modélisation particulière des observations de robots. Une observation correspond ici à une mesure de distance avec une balise (représentant un robot ou un objet statique) dont la position est représentée par une distribution normale. Après plusieurs observations successives d'une même balise, la corrélation devient forte entre l'état du robot et la position de la balise observée. Notre approche s'appuie alors sur la méthode de fusion d'un filtre à intersection de covariance partitionné afin d'éviter les problèmes de sur-convergence dus à la corrélation. De plus, les estimations des états des robots sont modélisées par des mixtures de gaussiennes permettant ainsi de représenter au mieux les formes réelles des distributions obtenues après la fusion d'une mesure de distance. Notre algorithme de localisation coopérative a également la particularité de faire évoluer le nombre de particules des mixtures de gaussiennes afin de se ramener à une modélisation équivalente à un filtre gaussien lorsque les conditions le permettent. Le fonctionnement de notre approche de localisation coopérative est présenté grâce à l'étude de quelques situations basiques mettant en évidences différentes caractéristiques de l'algorithme. Le manuscrit se termine par la présentation de trois scénarios de localisation coopérative faisant intervenir plusieurs robots et objets statiques. Les deux premiers exploitent un simulateur réaliste capable de simuler la physique des robots. Le troisième est une expérimentation réelle utilisant une plateforme urbaine dont dispose le laboratoire. L'objectif de ces expérimentations est de montrer que notre approche reste intègre dans les situations les plus difficiles.
Social Robots: Technological, Societal and Ethical Aspects of Human-Robot Interaction
Social Robots: Technological, Societal and Ethical Aspects of Human-Robot Interaction - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Social Robots: Technological, Societal and Ethical Aspects of Human-Robot Interaction write by Oliver Korn. This book was released on 2019-07-01. Social Robots: Technological, Societal and Ethical Aspects of Human-Robot Interaction available in PDF, EPUB and Kindle. Social robots not only work with humans in collaborative workspaces – we meet them in shopping malls and even more personal settings like health and care. Does this imply they should become more human, able to interpret and adequately respond to human emotions? Do we want them to help elderly people? Do we want them to support us when we are old ourselves? Do we want them to just clean and keep things orderly – or would we accept them helping us to go to the toilet, or even feed us if we suffer from Parkinson’s disease? The answers to these questions differ from person to person. They depend on cultural background, personal experiences – but probably most of all on the robot in question. This book covers the phenomenon of social robots from the historic roots to today’s best practices and future perspectives. To achieve this, we used a hands-on, interdisciplinary approach, incorporating findings from computer scientists, engineers, designers, psychologists, doctors, nurses, historians and many more. The book also covers a vast spectrum of applications, from collaborative industrial work over education to sales. Especially for developments with a high societal impact like robots in health and care settings, the authors discuss not only technology, design and usage but also ethical aspects. Thus this book creates both a compendium and a guideline, helping to navigate the design space for future developments in social robotics.
Advanced Information Systems Engineering
Advanced Information Systems Engineering - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Advanced Information Systems Engineering write by Anne Persson. This book was released on 2004-08-18. Advanced Information Systems Engineering available in PDF, EPUB and Kindle. th CAiSE 2004 was the 16 in the series of International Conferences on Advanced Information Systems Engineering. In the year 2004 the conference was hosted by the Faculty of Computer Science and Information Technology, Riga Technical University, Latvia. Since the late 1980s, the CAiSE conferences have provided a forum for the presentation and exchange of research results and practical experiences within the ?eld of Information Systems Engineering. The conference theme of CAiSE 2004 was Knowledge and Model Driven Information Systems Engineering for Networked Organizations. Modern businesses and IT systems are facing an ever more complex en- ronment characterized by openness, variety, and change. Organizations are - coming less self-su?cient and increasingly dependent on business partners and other actors. These trends call for openness of business as well as IT systems, i.e. the ability to connect and interoperate with other systems. Furthermore, organizations are experiencing ever more variety in their business, in all c- ceivable dimensions. The di?erent competencies required by the workforce are multiplying. In the same way, the variety in technology is overwhelming with a multitude of languages, platforms, devices, standards, and products. Moreover, organizations need to manage an environment that is constantly changing and where lead times, product life cycles, and partner relationships are shortening. ThedemandofhavingtoconstantlyadaptITtochangingtechnologiesandbu- ness practices has resulted in the birth of new ideas which may have a profound impact on the information systems engineering practices in future years, such as autonomic computing, component and services marketplaces and dynamically generated software.
Collaborative Design for Embedded Systems
Collaborative Design for Embedded Systems - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Collaborative Design for Embedded Systems write by John Fitzgerald. This book was released on 2014-04-23. Collaborative Design for Embedded Systems available in PDF, EPUB and Kindle. One of the most significant challenges in the development of embedded and cyber-physical systems is the gap between the disciplines of software and control engineering. In a marketplace, where rapid innovation is essential, engineers from both disciplines need to be able to explore system designs collaboratively, allocating responsibilities to software and physical elements, and analyzing trade-offs between them. To this end, this book presents a framework that allows the very different kinds of design models – discrete-event (DE) models of software and continuous time (CT) models of the physical environment – to be analyzed and simulated jointly, based on common scenarios. The individual chapters provide introductions to both sides of this co-simulation technology, and give a step-by-step guide to the methodology for designing and analyzing co-models. They are grouped into three parts: Part I introduces the technical basis for collaborative modeling and simulation with the Crescendo technology. Part II continues with different methodological guidelines for creating co-models and analyzing them in different ways using case studies. Part III then delves into more advanced topics and looks into the potential future of this technology in the area of cyber-physical systems. Finally various appendices provide summaries of the VDM and 20-sim technologies, a number of valuable design patterns applicable for co-models, and an acronym list along with indices and references to other literature. By combining descriptions of the underlying theory with records of real engineers’ experience in using the framework on a series of case studies the book appeals to scientists and practitioners alike. It is complemented by tools, examples, videos, and other material on www.crescendotool.org. Scientists/researchers and graduate students working in embedded and cyber-physical systems will learn the semantic foundations for collaborative modeling and simulation, as well as the current capabilities and limitations of methods and tools in this field. Practitioners will be able to develop an appreciation of the capabilities of the co-modeling techniques, to assess the benefits of more collaborative approaches to modeling and simulation, and will benefit from the included guidelines and modeling patterns.
Foundations for Designing User-Centered Systems
Foundations for Designing User-Centered Systems - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Foundations for Designing User-Centered Systems write by Frank E. Ritter. This book was released on 2014-04-11. Foundations for Designing User-Centered Systems available in PDF, EPUB and Kindle. Foundations for Designing User-Centered Systems introduces the fundamental human capabilities and characteristics that influence how people use interactive technologies. Organized into four main areas—anthropometrics, behaviour, cognition and social factors—it covers basic research and considers the practical implications of that research on system design. Applying what you learn from this book will help you to design interactive systems that are more usable, more useful and more effective. The authors have deliberately developed Foundations for Designing User-Centered Systems to appeal to system designers and developers, as well as to students who are taking courses in system design and HCI. The book reflects the authors’ backgrounds in computer science, cognitive science, psychology and human factors. The material in the book is based on their collective experience which adds up to almost 90 years of working in academia and both with, and within, industry; covering domains that include aviation, consumer Internet, defense, eCommerce, enterprise system design, health care, and industrial process control.
