Abstract

Abstract

Abstract

Abstract
Localization is essential to modern autonomous robots in order to enable effective completion of complex tasks over possibly large distances in low structured environments. In this paper, a Extended Kalman Filter is used in order to implement self-localization. This is done by merging odometry and localization information, when available. The used landmarks are colored poles that can be recognized while the robot moves around performing normal tasks. This paper models measurements with very different characteristics in distance and angle to markers and shows results of the self-localization method. Results of simulations and real robot tests are shown.

Abstract
This paper presents a architecture control and model identification of a onmi-Directional Mobile Robot It is divided into the three stages. Stage one proposes a procedure for dynamic model identification and control of the "motor + reduction + encoder" process of the Robot's Motors. Second, proposes the identification of a dynamic model for the whole mobile robot considering it as a multi-variable system. Third, presents a algorithm for perfect trajectory tracking of Omni-Directional Mobile Robots, based on restriction on motor's velocities. This algorithm combines the restriction on motor's velocities and the kinematic model of mobile robot to generate ideal drive velocities for the mobile robot to follow the trajectories correctly with the best possible performance.

Abstract
This paper's main purpose is to present an automatic vision assortment system for cork classification. Cork is a natural material that is used to seal wine bottles due to its reliability and its chemical and mechanic properties. A modular approach isolates the hard real-time sub problems. It includes some custom developed hardware and software. The developed and implemented system acquires images using a linear CCD camera, transmits that image over an Ethernet based network and processes that image to extract quantitative elements. This system can analyse and distinguish defects present on the surface of a cork-stopper and it is also possible to adapt it to other kinds of problems. The size, form and position of the defects are analysed and the stability of repeated measures is observed. This result allows us to validate the presented methodology.